Functions
def	create_graph (microphones, simulatedTOA)

def	create_initial_estimate (n)

def	create_trajectory (n)

def	define_microphones ()

def	simulate_one_toa (microphones, event)

def	simulate_toa (microphones, trajectory)

def	toa_example ()

Variables
int	CM = 1e-2

int	MS = 1e-3

	TIME_OF_ARRIVAL = TimeOfArrival(330)

Detailed Description

GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
Authors: Frank Dellaert, et al. (see THANKS for the full author list)

See LICENSE for the license information

Track a moving object "Time of Arrival" measurements at 4 microphones.
Author: Frank Dellaert

Function Documentation

◆ create_graph()

def gtsam_unstable.examples.TimeOfArrivalExample.create_graph	(	microphones,
		simulatedTOA
	)

Create factor graph.

Definition at line 62 of file TimeOfArrivalExample.py.

◆ create_initial_estimate()

def gtsam_unstable.examples.TimeOfArrivalExample.create_initial_estimate ( n )

Create initial estimate for n events.

Definition at line 80 of file TimeOfArrivalExample.py.

◆ create_trajectory()

def gtsam_unstable.examples.TimeOfArrivalExample.create_trajectory ( n )

Create ground truth trajectory.

Definition at line 37 of file TimeOfArrivalExample.py.

◆ define_microphones()

def gtsam_unstable.examples.TimeOfArrivalExample.define_microphones ( )

Create microphones.

Definition at line 26 of file TimeOfArrivalExample.py.

◆ simulate_one_toa()

def gtsam_unstable.examples.TimeOfArrivalExample.simulate_one_toa	(	microphones,
		event
	)

Simulate time-of-arrival measurements for a single event.

Definition at line 50 of file TimeOfArrivalExample.py.

◆ simulate_toa()

def gtsam_unstable.examples.TimeOfArrivalExample.simulate_toa	(	microphones,
		trajectory
	)

Simulate time-of-arrival measurements for an entire trajectory.

Definition at line 56 of file TimeOfArrivalExample.py.

◆ toa_example()

def gtsam_unstable.examples.TimeOfArrivalExample.toa_example ( )

Run example with 4 microphones and 5 events in a straight line.

Definition at line 89 of file TimeOfArrivalExample.py.

Variable Documentation

◆ CM

int gtsam_unstable.examples.TimeOfArrivalExample.CM = 1e-2

Definition at line 20 of file TimeOfArrivalExample.py.

◆ MS

int gtsam_unstable.examples.TimeOfArrivalExample.MS = 1e-3

Definition at line 19 of file TimeOfArrivalExample.py.

◆ TIME_OF_ARRIVAL

gtsam_unstable.examples.TimeOfArrivalExample.TIME_OF_ARRIVAL = TimeOfArrival(330)

Definition at line 23 of file TimeOfArrivalExample.py.

Functions

Variables