gtsam.examples.PlanarSLAMExample Namespace Reference

Variables
	graph = gtsam.NonlinearFactorGraph()
	initial_estimate = gtsam.Values()
	L1 = L(4)
	L2 = L(5)
	marginals = gtsam.Marginals(graph, result)
	MEASUREMENT_NOISE = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.1, 0.2]))
	ODOMETRY_NOISE = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.2, 0.2, 0.1]))
	optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initial_estimate, params)
	params = gtsam.LevenbergMarquardtParams()
	PRIOR_NOISE = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.3, 0.3, 0.1]))
	result = optimizer.optimize()
	X1 = X(1)
	X2 = X(2)
	X3 = X(3)

Detailed Description

GTSAM Copyright 2010-2018, 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

Simple robotics example using odometry measurements and bearing-range (laser) measurements
Author: Alex Cunningham (C++), Kevin Deng & Frank Dellaert (Python)

Variable Documentation

gtsam.examples.PlanarSLAMExample.graph = gtsam.NonlinearFactorGraph()

Definition at line 27 of file PlanarSLAMExample.py.

gtsam.examples.PlanarSLAMExample.initial_estimate = gtsam.Values()

Definition at line 57 of file PlanarSLAMExample.py.

gtsam.examples.PlanarSLAMExample.L1 = L(4)

Definition at line 33 of file PlanarSLAMExample.py.

gtsam.examples.PlanarSLAMExample.L2 = L(5)

Definition at line 34 of file PlanarSLAMExample.py.

gtsam.examples.PlanarSLAMExample.marginals = gtsam.Marginals(graph, result)

Definition at line 79 of file PlanarSLAMExample.py.

gtsam.examples.PlanarSLAMExample.MEASUREMENT_NOISE = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.1, 0.2]))

Definition at line 24 of file PlanarSLAMExample.py.

gtsam.examples.PlanarSLAMExample.ODOMETRY_NOISE = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.2, 0.2, 0.1]))

Definition at line 23 of file PlanarSLAMExample.py.

gtsam.examples.PlanarSLAMExample.optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initial_estimate, params)

Definition at line 74 of file PlanarSLAMExample.py.

gtsam.examples.PlanarSLAMExample.params = gtsam.LevenbergMarquardtParams()

Definition at line 73 of file PlanarSLAMExample.py.

gtsam.examples.PlanarSLAMExample.PRIOR_NOISE = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.3, 0.3, 0.1]))

Definition at line 22 of file PlanarSLAMExample.py.

gtsam.examples.PlanarSLAMExample.result = optimizer.optimize()

Definition at line 75 of file PlanarSLAMExample.py.

gtsam.examples.PlanarSLAMExample.X1 = X(1)

Definition at line 30 of file PlanarSLAMExample.py.

gtsam.examples.PlanarSLAMExample.X2 = X(2)

Definition at line 31 of file PlanarSLAMExample.py.

gtsam.examples.PlanarSLAMExample.X3 = X(3)

Definition at line 32 of file PlanarSLAMExample.py.