Comments and README file
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/**
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* @file PlanarSLAMExample.cpp
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* @brief Simple robotics example from tutorial Figure 1.1 (left) by using the
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* pre-built planar SLAM domain
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* @brief Simple robotics example using the pre-built planar SLAM domain
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* @author Alex Cunningham
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*/
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* -------------------------------------------------------------------------- */
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/**
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* @file PlanarSLAMSelfContained.cpp
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* @brief Simple robotics example from tutorial Figure 1.1 (left), with all typedefs
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* internal to this script.
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* @file PlanarSLAMSelfContained_advanced.cpp
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* @brief Simple robotics example with all typedefs internal to this script.
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* @author Alex Cunningham
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*/
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* -------------------------------------------------------------------------- */
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/**
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* @file Pose2SLAMExample.cpp
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* @file Pose2SLAMExample_advanced.cpp
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* @brief Simple Pose2SLAM Example using
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* pre-built pose2SLAM domain
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* @author Chris Beall
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/*
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* Pose2SLAMExample_easy.cpp
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*
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* A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h
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*
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* Created on: Oct 21, 2010
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* Author: ydjian
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*/
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* -------------------------------------------------------------------------- */
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/*
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* Solve a simple 3 by 3 grid of Pose2 SLAM problem by using advanced SPCG interface
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* @file Pose2SLAMwSPCG_advanced.cpp
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* @brief Solve a simple 3 by 3 grid of Pose2 SLAM problem by using advanced SPCG interface
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* @author Yong Dian
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* Created October 21, 2010
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*/
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#include <boost/shared_ptr.hpp>
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* -------------------------------------------------------------------------- */
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/*
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* Solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy SPCG interface
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* @file Pose2SLAMwSPCG_easy.cpp
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* @brief Solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy SPCG interface
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* @author Yong Dian
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* Created October 21, 2010
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*/
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#include <boost/shared_ptr.hpp>
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#include <gtsam/slam/pose2SLAM.h>
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This directory contains a number of exapmples that illustrate the use of GTSAM:
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SimpleRotation: a super-simple example of optimizing a single rotation according to a single prior
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2D Pose SLAM
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============
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Pose2SLAMExample_easy: A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h
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Pose2SLAMExample_advanced: same, but uses an Optimizer object
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Pose2SLAMwSPCG_easy: solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy SPCG interface
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Pose2SLAMwSPCG_advanced: solve a simple 3 by 3 grid of Pose2 SLAM problem by using advanced SPCG interface
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Planar SLAM with landmarks
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==========================
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PlanarSLAMExample: simple robotics example using the pre-built planar SLAM domain
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PlanarSLAMSelfContained_advanced: simple robotics example with all typedefs internal to this script.
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Visual SLAM
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===========
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The directory vSLAMexample includes 2 simple examples using GTSAM:
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- vSFMexample using visualSLAM in for structure-from-motion (SFM), and
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- vISAMexample using visualSLAM and ISAM for incremental SLAM updates
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See the separate README file there.
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* SimpleRotation.cpp
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*
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* This is a super-simple example of optimizing a single rotation according to a single prior
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* yet it is quite painful (took 1.5 hours to code from scratch) and is overly complex
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* An example like this should be very easy to do, so let's work at it.
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*
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* Created on: Jul 1, 2010
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* @Author: Frank Dellaert
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