├── .gitignore ├── CMakeLists.txt ├── Doxyfile ├── License ├── README.md ├── cfg ├── fastslam2dSim.xml ├── fastslam_VictoriaPark.xml ├── fastslam_VictoriaPark_artificialClutter.xml ├── mhfastslam2dSim.xml ├── mhfastslam_VictoriaPark.xml ├── mhfastslam_VictoriaPark_artificialClutter.xml ├── rbphdslam2dSim.xml ├── rbphdslam_VictoriaPark.xml └── rbphdslam_VictoriaPark_artificialClutter.xml ├── cmake ├── FindEigen.cmake └── FindPerftools.cmake ├── data └── VictoriaPark │ ├── .DS_Store │ ├── DRS.txt │ ├── Documentation.txt │ ├── GPS.txt │ ├── LASER.txt │ ├── Sensors_manager.txt │ ├── VictoriaParkSatellite.png │ ├── VictoriaParkSatellite_lowRes.png │ ├── VictoriaParkSatellite_original.png │ ├── gps.dat │ ├── inputs.dat │ └── measurements.dat ├── include ├── BruteForceAssignment.hpp ├── COLA.hpp ├── CostMatrix.hpp ├── FastSLAM.hpp ├── Frame.hpp ├── GaussianMixture.hpp ├── HungarianMethod.hpp ├── JCBB.hpp ├── KalmanFilter.hpp ├── KalmanFilter_RngBrg.hpp ├── KalmanFilter_VictoriaPark.hpp ├── Landmark.hpp ├── MatrixPermanent.hpp ├── Measurement.hpp ├── MeasurementModel.hpp ├── MeasurementModel_Rng1D.hpp ├── MeasurementModel_RngBrg.hpp ├── MeasurementModel_RngBrg_amplitude.hpp ├── MeasurementModel_VictoriaPark.hpp ├── MeasurementModel_XY.hpp ├── MurtyAlgorithm.hpp ├── OSPA.hpp ├── Particle.hpp ├── ParticleFilter.hpp ├── PermutationLexicographic.hpp ├── Pose.hpp ├── ProcessModel.hpp ├── ProcessModel_Ackerman2D.hpp ├── ProcessModel_Odometry1D.hpp ├── ProcessModel_Odometry2D.hpp ├── RBPHDFilter.hpp ├── RandomVec.hpp ├── RandomVecMathTools.hpp ├── SpatialIndexBox.hpp ├── SpatialIndexTree.hpp ├── TimeStamp.hpp ├── Timer.hpp ├── Trajectory.hpp ├── Tree.hpp └── misc │ └── MemProfile.hpp ├── rfsslam-config-version.cmake.in ├── rfsslam-config.cmake.in ├── scripts ├── VictoriaPark │ └── animate_VictoriaPark.py ├── batchSim │ ├── batchSim_fastslam.bash │ ├── batchSim_mhfastslam.bash │ ├── batchSim_rbphdslam.bash │ ├── batchSim_rbphdslam_clusterProc.bash │ ├── batchSim_rbphdslam_emptyStrat.bash │ ├── batchSim_rbphdslam_singleStrat.bash │ └── plotBatchSimResults.py ├── componentTesting │ └── spatialIndexTreeTestVisualizer.py ├── deprecated │ ├── combineImages.sh │ └── generateVideo.sh ├── misc │ ├── appendLicense.sh │ └── gource.sh └── sim │ ├── animate2dSim.py │ ├── plotError2dSim.py │ └── plotErrorCompare2dSim.py ├── src ├── BruteForceAssignment.cpp ├── CostMatrix.cpp ├── Frame.cpp ├── HungarianMethod.cpp ├── KalmanFilter_RngBrg.cpp ├── MatrixPermanent.cpp ├── MeasurementModel_Rng1D.cpp ├── MeasurementModel_RngBrg.cpp ├── MeasurementModel_VictoriaPark.cpp ├── MeasurementModel_XY.cpp ├── MurtyAlgorithm.cpp ├── PermutationLexicographic.cpp ├── ProcessModel_Ackerman2D.cpp ├── ProcessModel_Odometry1D.cpp ├── ProcessModel_Odometry2D.cpp ├── TimeStamp.cpp ├── Timer.cpp ├── analysis2dSim.cpp ├── convertLogFiles.cpp ├── examples │ ├── linearAssignment_CostMatrixPartitioning.cpp │ ├── linearAssignment_LexicographicOrdering.cpp │ ├── 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