TimeOfArrivalExample.cpp File Reference

Track a moving object "Time of Arrival" measurements at 4 microphones. More...

#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/expressions.h>
#include <gtsam_unstable/geometry/Event.h>
#include <gtsam_unstable/slam/TOAFactor.h>
#include <vector>

Include dependency graph for TimeOfArrivalExample.cpp:

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Functions
NonlinearFactorGraph	createGraph (const vector< Point3 > &microphones, const vector< vector< double >> &simulatedTOA)
Values	createInitialEstimate (size_t n)
vector< Event >	createTrajectory (size_t n)
vector< Point3 >	defineMicrophones ()
int	main (int argc, char *argv[])
vector< double >	simulateTOA (const vector< Point3 > &microphones, const Event &event)
vector< vector< double > >	simulateTOA (const vector< Point3 > &microphones, const vector< Event > &trajectory)

Variables
static const double	cm = 1e-2
static const TimeOfArrival	kTimeOfArrival (330)
static const double	ms = 1e-3

Detailed Description

Track a moving object "Time of Arrival" measurements at 4 microphones.

Author

Frank Dellaert

Jay Chakravarty

Date

March 2020

Definition in file TimeOfArrivalExample.cpp.

Function Documentation

createGraph()

NonlinearFactorGraph createGraph	(	const vector< Point3 > &	microphones,
		const vector< vector< double >> &	simulatedTOA
	)

Definition at line 90 of file TimeOfArrivalExample.cpp.

createInitialEstimate()

Values createInitialEstimate

(

size_t

n

)

Definition at line 110 of file TimeOfArrivalExample.cpp.

createTrajectory()

vector<Event> createTrajectory

(

size_t

n

)

Definition at line 53 of file TimeOfArrivalExample.cpp.

defineMicrophones()

vector<Point3> defineMicrophones

(

)

Definition at line 41 of file TimeOfArrivalExample.cpp.

main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 121 of file TimeOfArrivalExample.cpp.

simulateTOA() [1/2]

vector<double> simulateTOA	(	const vector< Point3 > &	microphones,
		const Event &	event
	)

Definition at line 67 of file TimeOfArrivalExample.cpp.

simulateTOA() [2/2]

vector<vector<double> > simulateTOA	(	const vector< Point3 > &	microphones,
		const vector< Event > &	trajectory
	)

Definition at line 79 of file TimeOfArrivalExample.cpp.

Variable Documentation

cm

const double cm = 1e-2

static

Definition at line 34 of file TimeOfArrivalExample.cpp.

kTimeOfArrival

const TimeOfArrival kTimeOfArrival(330)

static

ms

const double ms = 1e-3

static

Definition at line 33 of file TimeOfArrivalExample.cpp.