junklab00 / robotmapping_slam_assignments_in_cpp

Assignments from the robot mapping course taught by Dr. Cyrill Stachniss at the University of Freiburg, solved in C++. Credit for the data files, assignments, and Octave "tools" code off of which some of the c++ code is based: Dr. Cyrill Stachniss.

RobotMapping_SLAM_Assignments_In_Cpp

I solved the assignments from the SLAM (2013) or "Robot Mapping" course taught by Dr. Cyrill Stachniss using C++.

Requirements

The only 3rd party dependency for the C++ code is the linear algebra library Eigen. I used 3.3.7, but it is possible that this could work with older/newer versions.

I have been compiling this on a windows 10 PC using g++ version 6.3.0, and it is not giving me any warnings.

Status / TODO's:

I have solved the problems and my plots agree with those in the assignments or the "world" definitions; however, some of the code could certainly be improved in terms of proof of validity, readability, and efficiency. There is inconsistent structuring of the project folders at the moment, so I plan to fix this.

Dumping into csv and plotting with python "works", but I would really like to setup something like gnuplot so the plots can be generated as the code is running.

I would like to setup a set of cMake files to build the whole project at once so people do not have to compile each folder individually.

I am working on this as a side project, so I will get to these issues as my freetime allows.

Sources:

[1] Jacob, B., and G. Guennebaud. "Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms." 2020. http://eigen.tuxfamily.org/index.php?title=Main_Page

[2] *Stachniss, Cyrill. Robot Mapping, University of Freiburg. http://ais.informatik.uni-freiburg.de/teaching/ws13/mapping/

[3] Thrun, Sebastian. "Probabilistic robotics." Communications of the ACM 45.3 (2002): 52-57.

*Credit for the data files, assignments, and Octave "tools" code off of which some of the c++ code is based goes to Dr. Cyrill Stachniss.