├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── config ├── bag_runner │ ├── gmapping_mit.properties │ ├── tiny_mit.properties │ ├── viny_mit.properties │ └── viny_pr2.properties ├── common │ ├── bf_m3rsm.properties │ ├── hill_climbing_scan_matching.properties │ └── monte_carlo_scan_matching.properties ├── datasets │ ├── in_mit_stata.properties │ └── in_pr2.properties └── slams │ ├── gmapping_base.properties │ ├── tiny_mean_cell.properties │ ├── tiny_original_cell.properties │ ├── tiny_slam_base.properties │ ├── viny_slam_base.properties │ └── viny_slam_experimental.properties ├── docs └── 1h-SLAM.png ├── launch ├── 1h_config_common.launch ├── 1h_config_wg.launch ├── credibilist_mit_run.launch ├── gmapping_mit_run.launch ├── gmapping_wg_pr2_run.launch └── graph_demo_mit.launch ├── package.xml ├── rviz ├── debug.rviz └── wg_pr2.rviz ├── src ├── core │ ├── features │ │ └── angle_histogram.h │ ├── geometry_discrete_primitives.h │ ├── geometry_primitives.h │ ├── geometry_utils.h │ ├── maps │ │ ├── area_occupancy_estimator.h │ │ ├── cell_occupancy_estimator.h │ │ ├── const_occupancy_estimator.h │ │ ├── grid_cell.h │ │ ├── grid_map.h │ │ ├── grid_map_scan_adders.h │ │ ├── grid_rasterization.h │ │ ├── lazy_tiled_grid_map.h │ │ ├── naive_grid_cells.h │ │ ├── occupancy_map.h │ │ ├── plain_grid_map.h │ │ ├── regular_squares_grid.h │ │ ├── rescalable_caching_grid_map.h │ │ ├── tbm_grid_cells.h │ │ └── transferable_belief_model.h │ ├── math_utils.h │ ├── particle_filter.h │ ├── random_utils.h │ ├── scan_matchers │ │ ├── bf_multi_res_scan_matcher.h │ │ ├── brute_force_scan_matcher.h │ │ ├── connect_the_dots_ambiguous_drift_detector.h │ │ ├── grid_scan_matcher.h │ │ ├── hcsm_fixed.h │ │ ├── hill_climbing_scan_matcher.h │ │ ├── m3rsm_engine.h │ │ ├── monte_carlo_scan_matcher.h │ │ ├── no_action_scan_matcher.h │ │ ├── observation_impact_estimators.h │ │ ├── occupancy_observation_probability.h │ │ ├── pose_enumeration_scan_matcher.h │ │ ├── pose_enumerators.h │ │ └── weighted_mean_point_probability_spe.h │ ├── serialization.h │ ├── states │ │ ├── laser_scan_grid_world.h │ │ ├── robot_pose.h │ │ ├── sensor_data.h │ │ ├── single_state_hypothesis_laser_scan_grid_world.h │ │ ├── state_data.h │ │ └── world.h │ └── trigonometry_utils.h ├── ros │ ├── bag_topic_with_transform.h │ ├── init_utils.h │ ├── laser_scan_observer.h │ ├── launch_properties_provider.h │ ├── lslam2D_bag_runner.cpp │ ├── occupancy_grid_publisher.h │ ├── path_publisher.cpp │ ├── pose_correction_tf_publisher.h │ ├── robot_pose_observers.h │ ├── single_hypoth_slam_node.cpp │ ├── topic_with_transform.h │ ├── utils.h │ └── wg_pr2_bag_adapter.cpp ├── slams │ ├── credibilist │ │ ├── TBM_prob_conversion.h │ │ ├── grid_cell.h │ │ ├── init_slam.h │ │ └── slam.cpp │ ├── gmapping │ │ ├── gmapping.cpp │ │ ├── gmapping_grid_cell.h │ │ ├── gmapping_occupancy_observation_pe.h │ │ ├── gmapping_particle_filter.h │ │ ├── gmapping_world.h │ │ └── init_gmapping.h │ ├── graph │ │ ├── graph_demo.cpp │ │ ├── graph_slam_world.h │ │ ├── pose_graph_map.h │ │ └── rviz_graph_viewer.h │ └── vinyx │ │ ├── init_vinyx_slam.h │ │ ├── vinyx_slam.cpp │ │ └── vinyx_world.h └── utils │ ├── console_view.h │ ├── data_generation │ ├── grid_map_patcher.h │ ├── laser_scan_generator.h │ └── map_primitives.h │ ├── init_occupancy_mapping.h │ ├── init_scan_matching.h │ ├── init_slam.h │ ├── map_dumpers.h │ ├── pose2D_search_space_evaluator.cpp │ ├── properties_providers.h │ └── sm_runner.cpp └── test ├── core ├── directions.h ├── features │ └── angle_histogram_test.cpp ├── geometry_discrete_primitives_test.cpp ├── light_weight_rectangle_test.cpp ├── maps │ ├── area_occupancy_estimator_test.cpp │ ├── grid_common_test.cpp │ ├── grid_map_scan_adders_test.cpp │ ├── grid_rasterization_test.cpp │ ├── regular_squares_grid_test.cpp │ ├── rescalable_caching_grid_map_test.cpp │ ├── unbounded_lazy_tiled_grid_map_test.cpp │ └── unbounded_plain_grid_map_test.cpp ├── mock_grid_cell.h ├── scan_matchers │ ├── bf_multi_res_sm_smoke_test.cpp │ ├── brute_force_sm_smoke_test.cpp │ ├── hill_climbing_sm_smoke_test.cpp │ ├── m3rsm_rescalable_map_test.cpp │ ├── occupancy_observation_probability_test.cpp │ └── scan_matcher_test_utils.h ├── states │ └── sensor_data_test.cpp └── trigonometry_utils_test.cpp └── utils └── data_generation ├── grid_map_patcher_test.cpp ├── laser_scan_generator_test.cpp └── map_primitives_test.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | *~ -------------------------------------------------------------------------------- /CHANGELOG.rst: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/OSLL/slam-constructor/HEAD/CHANGELOG.rst -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 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