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>
Go to the source code of this file.
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 () |
using RangeTriple = std::tuple<double, size_t, double> |
Definition at line 95 of file RangeISAMExample_plaza2.cpp.
using TimedOdometry = std::pair<double, Pose2> |
Definition at line 78 of file RangeISAMExample_plaza2.cpp.
Definition at line 111 of file RangeISAMExample_plaza2.cpp.
std::list<TimedOdometry> readOdometry | ( | ) |
Definition at line 79 of file RangeISAMExample_plaza2.cpp.
std::vector<RangeTriple> readTriples | ( | ) |
Definition at line 96 of file RangeISAMExample_plaza2.cpp.