cuikslam.c File Reference

Detailed Description

A set theoretic approach to SLAM. This is an example of how to use position analysis to solve problems apparently far from kinematics.

Note that

  • This is a batch approach to SLAM
  • This is not the same technique as the one described in our paper ICRA2005 CuikSLAM: a kinematics approach to SLAM. Actually this technique is better since it provides global consistency. However the introduction of the paper can be give an idea on how to model SLAM as a kinematic problem and the advantages and disadvantages of doing so.
Implement cuikslam.c. This implies to find a proper way to define the constraints between poses and between those and landmarks.
See Also
cuiksystem.h cuiksystem.c

Definition in file cuikslam.c.


int main (int argc, char **arg)
 Main body of the cuikslam application. More...

Function Documentation

int main ( int  argc,
char **  arg 

Main body of the cuikslam application.


  • cuikslam problem_name.slam


  • problem_name contains the SLAM information (robot trajectory and observed landmarks, if any).

The .slam extension is optional.

argcNumber of elements in the command line that starts the application (i.e., the cuikslam command itself and its arguments).
argStrings with the arguments.
EXIT_SUCCESS (0) if the execution worked out fine and EXIT_FAILURE if not.

Definition at line 58 of file cuikslam.c.

References CreateFileName(), DeleteCuikSystem(), DeleteFileName(), DeleteParameters(), Error(), GetFileFullName(), InitCuikSystem(), InitParametersFromFile(), PARAM_EXT, and SLAM_EXT.