RangeISAMExample_plaza2.cpp File Reference

A 2D Range SLAM example. More...

#include <gtsam/geometry/Pose2.h>
#include <gtsam/base/Vector.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/sam/RangeFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/base/timing.h>
#include <fstream>
#include <iostream>
#include <random>
#include <set>
#include <string>
#include <utility>
#include <vector>

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Typedefs
using	RangeTriple = std::tuple< double, size_t, double >
using	TimedOdometry = std::pair< double, Pose2 >

Functions
int	main (int argc, char **argv)
std::list< TimedOdometry >	readOdometry ()
std::vector< RangeTriple >	readTriples ()

Detailed Description

A 2D Range SLAM example.

Date

June 20, 2013

Author

Frank Dellaert

Definition in file RangeISAMExample_plaza2.cpp.

Typedef Documentation

RangeTriple

using RangeTriple = std::tuple<double, size_t, double>

Definition at line 95 of file RangeISAMExample_plaza2.cpp.

TimedOdometry

using TimedOdometry = std::pair<double, Pose2>

Definition at line 78 of file RangeISAMExample_plaza2.cpp.

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 111 of file RangeISAMExample_plaza2.cpp.

readOdometry()

std::list<TimedOdometry> readOdometry

(

)

Definition at line 79 of file RangeISAMExample_plaza2.cpp.

readTriples()

std::vector<RangeTriple> readTriples

(

)

Definition at line 96 of file RangeISAMExample_plaza2.cpp.