Functions | Variables
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< EventcreateTrajectory (size_t n)
 
vector< Point3defineMicrophones ()
 
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.



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autogenerated on Tue Jul 4 2023 02:40:57