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>
Go to the source code of this file.
Functions | |
NonlinearFactorGraph | createGraph (const vector< Point3 > µphones, 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 > µphones, const Event &event) |
vector< vector< double > > | simulateTOA (const vector< Point3 > µphones, const vector< Event > &trajectory) |
Variables | |
static const double | cm = 1e-2 |
static const TimeOfArrival | kTimeOfArrival (330) |
static const double | ms = 1e-3 |
Track a moving object "Time of Arrival" measurements at 4 microphones.
Definition in file TimeOfArrivalExample.cpp.
NonlinearFactorGraph createGraph | ( | const vector< Point3 > & | microphones, |
const vector< vector< double >> & | simulatedTOA | ||
) |
Definition at line 90 of file TimeOfArrivalExample.cpp.
Definition at line 110 of file TimeOfArrivalExample.cpp.
Definition at line 53 of file TimeOfArrivalExample.cpp.
vector<Point3> defineMicrophones | ( | ) |
Definition at line 41 of file TimeOfArrivalExample.cpp.
Definition at line 121 of file TimeOfArrivalExample.cpp.
Definition at line 67 of file TimeOfArrivalExample.cpp.
vector<vector<double> > simulateTOA | ( | const vector< Point3 > & | microphones, |
const vector< Event > & | trajectory | ||
) |
Definition at line 79 of file TimeOfArrivalExample.cpp.
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Definition at line 34 of file TimeOfArrivalExample.cpp.
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Definition at line 33 of file TimeOfArrivalExample.cpp.