tutorial_slam2d.cpp File Reference

#include <iostream>
#include <map>
#include <vector>
#include "rand.h"
#include "vertex_se2.h"
#include "vertex_point_xy.h"
#include "edge_se2.h"
#include "edge_se2_pointxy.h"
#include "se2.h"
#include "g2o/core/graph_optimizer_sparse.h"
#include "g2o/core/block_solver.h"
#include "g2o/solvers/csparse/linear_solver_csparse.h"

Include dependency graph for tutorial_slam2d.cpp:

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Classes
struct	GridEdge
struct	GridPose
struct	Landmark
Typedefs
typedef map< int, map< int, LandmarkVector > >	LandmarkGrid
typedef vector< Landmark * >	LandmarkVector
typedef map< int, map< int, PosesPtrVector > >	PosesGrid
typedef vector< const GridPose * >	PosesPtrVector
typedef vector< GridPose, Eigen::aligned_allocator < GridPose > >	PosesVector
Enumerations
enum	MotionType { MO_LEFT, MO_RIGHT, MO_NUM_ELEMS }
Functions
GridPose	generateNewPose (const GridPose &prev, const SE2 &trueMotion, const Vector2d &transNoise, double rotNoise)
SE2	getMotion (int motionDirection, double stepLen)
int	main ()
SE2	sampleTransformation (const SE2 &trueMotion_, const Vector2d &transNoise, double rotNoise)

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Typedef Documentation

typedef map<int, map<int, LandmarkVector> > LandmarkGrid

Definition at line 45 of file tutorial_slam2d.cpp.

typedef vector<Landmark*> LandmarkVector

Definition at line 44 of file tutorial_slam2d.cpp.

typedef map<int, map<int, PosesPtrVector> > PosesGrid

Definition at line 75 of file tutorial_slam2d.cpp.

typedef vector<const GridPose*> PosesPtrVector

Definition at line 74 of file tutorial_slam2d.cpp.

typedef vector<GridPose, Eigen::aligned_allocator<GridPose> > PosesVector

Definition at line 73 of file tutorial_slam2d.cpp.

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Enumeration Type Documentation

enum MotionType

Enumerator:

MO_LEFT
MO_RIGHT
MO_NUM_ELEMS

Definition at line 68 of file tutorial_slam2d.cpp.

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Function Documentation

GridPose generateNewPose	(	const GridPose &	prev,
		const SE2 &	trueMotion,
		const Vector2d &	transNoise,
		double	rotNoise
	)

Definition at line 87 of file tutorial_slam2d.cpp.

SE2 getMotion	(	int	motionDirection,
		double	stepLen
	)

Definition at line 97 of file tutorial_slam2d.cpp.

int main

(

void

)

Definition at line 110 of file tutorial_slam2d.cpp.

SE2 sampleTransformation	(	const SE2 &	trueMotion_,
		const Vector2d &	transNoise,
		double	rotNoise
	)

Definition at line 77 of file tutorial_slam2d.cpp.