/*

• Software License Agreement (New BSD License)
• Copyright (c) 2013, Keith Leung, Felipe Inostroza
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•   notice, this list of conditions and the following disclaimer.
  

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•   notice, this list of conditions and the following disclaimer in the
  

•   documentation and/or other materials provided with the distribution.
  

• * Neither the name of the Advanced Mining Technology Center (AMTC), the
  

•   Universidad de Chile, nor the names of its contributors may be 
  

•   used to endorse or promote products derived from this software without 
  

•   specific prior written permission.
  

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The main purpose of this RB-PHD Filter library is promote research in random finite set (RFS) estimation methods for the problem of simultaneous localization and mapping (SLAM). The intention of the authors, Keith and Felipe, is to keep the library general in the sense that users can define system models that are relevant to their specific problem, while not having to program and test their own implementation of the RB-PHD filter. We have also provided some generic vehicle motion models and measurement models. This library is an on-going project, and we intend to update it with new improvements whenever possible. Of course, any feedback will be appreciated.

While we have completed the documentation for all the individual classes and functions in this library, we are still lacking a document to explain how everything fits together (although we plan to have this ready in the near future). For those who wants to use the current version of the library, the 2d simulation that is included will provide some guidance of the necessary steps to get things to work. We have also included some Matlab scripts for visualizing the results from the simulator.

Please note that we have only tested the library in Ubuntu 13.04.

To get started, make sure that you have the following libraries installed:

Boost::math_c99 (version 1.48 or higher) Boost::timer (version 1.48 or higher) Boost::system (version 1.48 or higher) Boost::thread (version 1.48 or higher) Eigen3 libconfig (This is only necessary for the simulator)

Compiling for parts of the library and the 2d Simulator can be done with cmake. We have provided a CMakeLists.txt already. To compile, run:

cmake . make

Documentations can be generated using Doxygen, and we have provided a Doxyfile (configuration file). To generate the html and pdf documentations, run:

doxygen

The executable for the 2d simulator should be located in bin/sim2d. There is a configuration file for the simulator in cfg/simulator2d.cfg, where many settings such as the length of the simulation, the number of landmarks, measurement noise, etc, can be modified. To start the simulator, run:

bin/sim2d

where is a seed for the random number generators that are used. Logging of the results can be turned on in simulation2d.cfg. Under the tools directory, there is a Matlab script for viewing the results.