gtsam.examples.Pose2ISAM2Example Namespace Reference

Functions
int	determine_loop_closure (np.ndarray odom, gtsam.Values current_estimate, int key, xy_tol=0.6, theta_tol=17)
def	Pose2SLAM_ISAM2_example ()
def	report_on_progress (gtsam.NonlinearFactorGraph graph, gtsam.Values current_estimate, int key)

Detailed Description

GTSAM Copyright 2010-2018, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
Authors: Frank Dellaert, et al. (see THANKS for the full author list)

See LICENSE for the license information

Pose SLAM example using iSAM2 in the 2D plane.
Author: Jerred Chen, Yusuf Ali
Modeled after:
- VisualISAM2Example by: Duy-Nguyen Ta (C++), Frank Dellaert (Python)
- Pose2SLAMExample by: Alex Cunningham (C++), Kevin Deng & Frank Dellaert (Python)

Function Documentation

determine_loop_closure()

int gtsam.examples.Pose2ISAM2Example.determine_loop_closure	(	np.ndarray	odom,
		gtsam.Values	current_estimate,
		int	key,
			xy_tol = 0.6,
			theta_tol = 17
	)

Simple brute force approach which iterates through previous states
and checks for loop closure.

Args:
    odom: Vector representing noisy odometry (x, y, theta) measurement in the body frame.
    current_estimate: The current estimates computed by iSAM2.
    key: Key corresponding to the current state estimate of the robot.
    xy_tol: Optional argument for the x-y measurement tolerance, in meters.
    theta_tol: Optional argument for the theta measurement tolerance, in degrees.
Returns:
    k: The key of the state which is helping add the loop closure constraint.
        If loop closure is not found, then None is returned.

Definition at line 50 of file Pose2ISAM2Example.py.

Pose2SLAM_ISAM2_example()

def gtsam.examples.Pose2ISAM2Example.Pose2SLAM_ISAM2_example

(

)

Perform 2D SLAM given the ground truth changes in pose as well as
simple loop closure detection.

Definition at line 79 of file Pose2ISAM2Example.py.

report_on_progress()

def gtsam.examples.Pose2ISAM2Example.report_on_progress	(	gtsam.NonlinearFactorGraph	graph,
		gtsam.Values	current_estimate,
		int	key
	)

Print and plot incremental progress of the robot for 2D Pose SLAM using iSAM2.

Definition at line 24 of file Pose2ISAM2Example.py.