Skip to main contentModule ekf_slam
Source - EKFSLAMState
- EKF SLAM state
State vector: [x, y, yaw, lm1_x, lm1_y, lm2_x, lm2_y, …]
- ekf_slam
- Full EKF SLAM step (prediction + update) with unknown data association
- ekf_slam_known_correspondences
- Full EKF SLAM step (prediction + update) with known data association
This version uses landmark IDs from observations (ideal case)
- get_observations
- Simulate observations from true robot pose to landmarks (without IDs)
- get_observations_with_id
- Simulate observations from true robot pose to landmarks (with IDs - known correspondences)