ecl_slam Documentation

ecl_slam: Slam algorithms for mobile robot navigation

Slam structures and mechanisms for various algorithms. A level of genericity is the focus here - where elements are common to many slam algorithms, they're pulled into this package library.

Homepage: http://snorriheim.dnsdojo.com/redmine/wiki/ecl

Package Summary

In addition to providing an overview of your package, this is the section where the specification and design/architecture should be detailed. This is strictly a reference to the api and usage of that api in its barest form. While it should strive to be complete, it should not become unnecessarily burdened with usage ideas and notes. For that, create a wiki page for it in the appropriate stack (http://snorriheim.dnsdojo.com/redmine/wiki/ecl).

Compiling & Linking

Since the algorithms in slam are usually distinct, it is better to directly choose the algorithm header itself rather than a header for the whole package as is usually done in the ecl.

        // Ekf slam algorithm componets
        #include <ecl/slam/slam_ekf_base.hpp>
        #include <ecl/slam/slam_ekf/odometry_generic.hpp>
        #include <ecl/slam/slam_ekf/observation_generic.hpp>

        // The error interfaces
        using ecl::slam::SlamEkfBase;
        using ecl::slam::slam_ekf::GenericOdometryModel;
        using ecl::slam::slam_ekf::GenericObservationModel;

Currently these are just templatised header classes so no linking is needed.

Usage

This is very experimental at the moment, for now just check out the api as well as the slammer1d demo.

Demos

• ecl_navigation_apps/src/demos/slammer1d.cpp

ChangeLog

• Feb 10 : our corner vision slammer tested with the slam-ekf base.
• Jan 10 : the design for the slam-ekf base worked through and established here.