IMUKittiExampleGPS.cpp File Reference

#include <gtsam/inference/Symbol.h>
#include <gtsam/navigation/CombinedImuFactor.h>
#include <gtsam/navigation/GPSFactor.h>
#include <gtsam/navigation/ImuFactor.h>
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/nonlinear/ISAM2Params.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/dataset.h>
#include <cstring>
#include <fstream>
#include <iostream>

Include dependency graph for IMUKittiExampleGPS.cpp:

Go to the source code of this file.

Classes
struct	GpsMeasurement
struct	ImuMeasurement
struct	KittiCalibration

Functions
void	loadKittiData (KittiCalibration &kitti_calibration, vector< ImuMeasurement > &imu_measurements, vector< GpsMeasurement > &gps_measurements)
int	main (int argc, char *argv[])

Variables
const string	output_filename = "IMUKittiExampleGPSResults.csv"

Function Documentation

loadKittiData()

void loadKittiData	(	KittiCalibration &	kitti_calibration,
		vector< ImuMeasurement > &	imu_measurements,
		vector< GpsMeasurement > &	gps_measurements
	)

Definition at line 72 of file IMUKittiExampleGPS.cpp.

main()

int main	(	int	argc,
		char *	argv[]
	)

Main loop: (1) we read the measurements (2) we create the corresponding factors in the graph (3) we solve the graph to obtain and optimal estimate of robot trajectory

Definition at line 156 of file IMUKittiExampleGPS.cpp.

Variable Documentation

output_filename

const string output_filename = "IMUKittiExampleGPSResults.csv"

Definition at line 70 of file IMUKittiExampleGPS.cpp.