├── CMakeLists.txt ├── LICENSE ├── README.md ├── include └── ndt_2d │ ├── ceres_solver.hpp │ ├── ceres_solver_pose.hpp │ ├── constraint.hpp │ ├── conversions.hpp │ ├── graph.hpp │ ├── kd_tree.hpp │ ├── motion_model.hpp │ ├── ndt_mapper.hpp │ ├── ndt_model.hpp │ ├── occupancy_grid.hpp │ ├── particle_filter.hpp │ ├── point.hpp │ ├── pose_2d.hpp │ ├── scan.hpp │ ├── scan_matcher.hpp │ └── scan_matcher_ndt.hpp ├── msg ├── Constraint.msg └── Scan.msg ├── package.xml ├── plugins.xml ├── scripts ├── disable_mapping.py ├── enable_mapping.py ├── load_map.py └── save_map.py ├── src ├── ceres_solver.cpp ├── constraint.cpp ├── graph.cpp ├── motion_model.cpp ├── ndt_mapper.cpp ├── ndt_model.cpp ├── occupancy_grid.cpp ├── particle_filter.cpp ├── scan.cpp └── scan_matcher_ndt.cpp ├── srv └── Configure.srv └── test ├── ceres_solver_tests.cpp ├── graph_tests.cpp ├── ndt_model_tests.cpp └── particle_tests.cpp /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/README.md -------------------------------------------------------------------------------- /include/ndt_2d/ceres_solver.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/ceres_solver.hpp -------------------------------------------------------------------------------- /include/ndt_2d/ceres_solver_pose.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/ceres_solver_pose.hpp -------------------------------------------------------------------------------- /include/ndt_2d/constraint.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/constraint.hpp -------------------------------------------------------------------------------- /include/ndt_2d/conversions.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/conversions.hpp -------------------------------------------------------------------------------- /include/ndt_2d/graph.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/graph.hpp -------------------------------------------------------------------------------- /include/ndt_2d/kd_tree.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/kd_tree.hpp -------------------------------------------------------------------------------- /include/ndt_2d/motion_model.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/motion_model.hpp -------------------------------------------------------------------------------- /include/ndt_2d/ndt_mapper.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/ndt_mapper.hpp -------------------------------------------------------------------------------- /include/ndt_2d/ndt_model.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/ndt_model.hpp -------------------------------------------------------------------------------- /include/ndt_2d/occupancy_grid.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/occupancy_grid.hpp -------------------------------------------------------------------------------- /include/ndt_2d/particle_filter.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/particle_filter.hpp -------------------------------------------------------------------------------- /include/ndt_2d/point.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/point.hpp -------------------------------------------------------------------------------- /include/ndt_2d/pose_2d.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/pose_2d.hpp -------------------------------------------------------------------------------- /include/ndt_2d/scan.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/scan.hpp -------------------------------------------------------------------------------- /include/ndt_2d/scan_matcher.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/scan_matcher.hpp -------------------------------------------------------------------------------- /include/ndt_2d/scan_matcher_ndt.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/include/ndt_2d/scan_matcher_ndt.hpp -------------------------------------------------------------------------------- /msg/Constraint.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/msg/Constraint.msg -------------------------------------------------------------------------------- /msg/Scan.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/msg/Scan.msg -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/package.xml -------------------------------------------------------------------------------- /plugins.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/plugins.xml -------------------------------------------------------------------------------- /scripts/disable_mapping.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/scripts/disable_mapping.py -------------------------------------------------------------------------------- /scripts/enable_mapping.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/scripts/enable_mapping.py -------------------------------------------------------------------------------- /scripts/load_map.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/scripts/load_map.py -------------------------------------------------------------------------------- /scripts/save_map.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/scripts/save_map.py -------------------------------------------------------------------------------- /src/ceres_solver.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/src/ceres_solver.cpp -------------------------------------------------------------------------------- /src/constraint.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/src/constraint.cpp -------------------------------------------------------------------------------- /src/graph.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/src/graph.cpp -------------------------------------------------------------------------------- /src/motion_model.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/src/motion_model.cpp -------------------------------------------------------------------------------- /src/ndt_mapper.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/src/ndt_mapper.cpp -------------------------------------------------------------------------------- /src/ndt_model.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/src/ndt_model.cpp -------------------------------------------------------------------------------- /src/occupancy_grid.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/src/occupancy_grid.cpp -------------------------------------------------------------------------------- /src/particle_filter.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/src/particle_filter.cpp -------------------------------------------------------------------------------- /src/scan.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/src/scan.cpp -------------------------------------------------------------------------------- /src/scan_matcher_ndt.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/src/scan_matcher_ndt.cpp -------------------------------------------------------------------------------- /srv/Configure.srv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/srv/Configure.srv -------------------------------------------------------------------------------- /test/ceres_solver_tests.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/test/ceres_solver_tests.cpp -------------------------------------------------------------------------------- /test/graph_tests.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/test/graph_tests.cpp -------------------------------------------------------------------------------- /test/ndt_model_tests.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/test/ndt_model_tests.cpp -------------------------------------------------------------------------------- /test/particle_tests.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mikeferguson/ndt_2d/HEAD/test/particle_tests.cpp --------------------------------------------------------------------------------