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Commit 07d79af9 authored by Andrea Censi's avatar Andrea Censi
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......@@ -57,78 +57,31 @@
ENDIF(APPLE)
########### Easy GSL ##########
ADD_LIBRARY(egsl STATIC
lib/egsl/egsl.c
lib/egsl/egsl_ops.c
lib/egsl/egsl_conversions.c
lib/egsl/egsl_misc.c
)
ADD_EXECUTABLE(test_egsl lib/egsl/egsl_test.c)
TARGET_LINK_LIBRARIES(test_egsl egsl ${GSL_LIBRARIES})
ADD_EXECUTABLE(egsl_test_allocation lib/egsl/egsl_test_allocation.c)
TARGET_LINK_LIBRARIES(egsl_test_allocation egsl ${GSL_LIBRARIES})
###########
ADD_LIBRARY(gpc STATIC
lib/gpc/gpc.c
lib/gpc/gpc_utils.c
)
########### Options ##########
SUBDIRS(lib/options)
SUBDIRS(lib/json-c)
SUBDIRS(lib/egsl)
SUBDIRS(csm)
########### SM ##########
ADD_LIBRARY(sm STATIC
src/journal.c
src/laser_data.c
src/laser_data_fisher.c
src/laser_data_json.c
src/laser_data_carmen.c
src/json_journal.c
src/math_utils.c
src/utils.c
src/orientation.c
src/clustering.c
src/logging.c
src/sm_options.c
src/icp/icp.c
src/icp/icp_loop.c
src/icp/icp_corr_dumb.c
src/icp/icp_corr_tricks.c
src/icp/icp_outliers.c
src/icp/icp_covariance.c
src/gpm/gpm.c
lib/gpc/gpc.c
lib/gpc/gpc_utils.c
lib/egsl/egsl.c
lib/egsl/egsl_ops.c
lib/egsl/egsl_conversions.c
lib/egsl/egsl_misc.c
)
INCLUDE_DIRECTORIES(lib/egsl)
INCLUDE_DIRECTORIES(lib/gpc)
INCLUDE_DIRECTORIES(lib/json-c)
INCLUDE_DIRECTORIES(lib)
INCLUDE_DIRECTORIES(.)
TARGET_LINK_LIBRARIES(sm json-c)
########### SM ##########
TARGET_LINK_LIBRARIES(sm ${GSL_LIBRARIES})
INSTALL(TARGETS sm ARCHIVE DESTINATION lib)
INSTALL(FILES src/sm.h DESTINATION include)
INSTALL(FILES src/laser_data.h DESTINATION include)
########### SM applications ##########
MACRO(new_executable exec)
ADD_EXECUTABLE(${exec} apps/${exec}.c)
TARGET_LINK_LIBRARIES(${exec} sm ${GSL_LIBRARIES} options)
TARGET_LINK_LIBRARIES(${exec} csm ${GSL_LIBRARIES} options)
INSTALL(PROGRAMS ${exec} DESTINATION bin)
ENDMACRO(new_executable exec)
......@@ -145,8 +98,8 @@
new_executable(test_json_ld)
new_executable(test_json)
ADD_EXECUTABLE(test_math_utils src/math_utils_test.c)
TARGET_LINK_LIBRARIES(test_math_utils sm ${GSL_LIBRARIES})
ADD_EXECUTABLE(test_math_utils csm/math_utils_test.c)
TARGET_LINK_LIBRARIES(test_math_utils csm ${GSL_LIBRARIES})
########### Carmen2pdf ##########
......
#include "../src/laser_data_json.h"
#include <csm/csm.h>
int main(int argc, char * argv[]) {
LDP ld;
......
......@@ -5,13 +5,7 @@
#include <options/options.h>
#include "../src/math_utils.h"
#include "../src/sm.h"
#include "../src/laser_data.h"
#include "../src/laser_data_json.h"
#include "../src/utils.h"
#include "../src/logging.h"
#include <csm/csm_all.h>
typedef enum { Odometry = 1, Estimate = 2, True_pose = 3 } reference;
const char*reference_name[4] = { "invalid","odometry","estimate","true_pose"};
......@@ -134,6 +128,7 @@ double * ld_get_reference(LDP ld, reference use_reference) {
case Odometry: pose = ld->odometry; break;
case Estimate: pose = ld->estimate; break;
case True_pose: pose = ld->true_pose; break;
default: exit(-1);
}
if(any_nan(pose, 3)) {
sm_error("Required field '%s' not set in laser scan.\n",
......
#include <libgen.h>
#include "../src/laser_data_json.h"
#include "../src/utils.h"
#include <options/options.h>
#include <csm/csm.h>
int main(int argc, const char * argv[]) {
int nth;
......
#include <libgen.h>
#include "../src/laser_data_json.h"
#include <csm/csm.h>
#include <options/options.h>
int main(int argc, const char * argv[]) {
......
#include <math.h>
#include <gsl/gsl_rng.h>
#include <gsl/gsl_randist.h>
#include <math.h>
#include <options/options.h>
#include "../src/laser_data_json.h"
#include "../src/math_utils.h"
#include <csm/csm_all.h>
struct ld_fisher_params {
double sigma;
......
......@@ -2,8 +2,9 @@
#include <gsl/gsl_randist.h>
#include <math.h>
#include <options/options.h>
#include "../src/laser_data_json.h"
#include <csm/csm_all.h>
struct ld_noise_params {
int seed;
......
......@@ -4,8 +4,8 @@
#include <math.h>
#include <options/options.h>
#include "../src/laser_data_json.h"
#include "../src/math_utils.h"
#include <csm/csm_all.h>
struct ld_noise_params {
int seed;
......
#include <time.h>
#include "../src/math_utils.h"
#include "../src/sm.h"
#include "../src/laser_data.h"
#include "../src/logging.h"
#include <csm/csm_all.h>
extern int distance_counter;
int main(int argc, const char*argv[]) {
......
#include <time.h>
#include <string.h>
#include "../src/math_utils.h"
#include "../src/sm.h"
#include "../src/laser_data.h"
#include "../src/utils.h"
#include "../src/laser_data_json.h"
#include "../src/json_journal.h"
#include <csm/csm_all.h>
#include <options/options.h>
struct sm1_params {
......
#include <time.h>
#include <string.h>
#include "../src/math_utils.h"
#include "../src/sm.h"
#include "../src/laser_data.h"
#include "../src/utils.h"
#include "../src/laser_data_json.h"
#include "../src/json_journal.h"
#include "../src/logging.h"
#include <options/options.h>
#include <csm/csm_all.h>
struct sm1_params {
const char * file_in;
......
#include "../src/laser_data_json.h"
#include <csm/csm.h>
int main(int argc, char * argv[]) {
......
#include "../src/laser_data_json.h"
#include <csm/csm.h>
int main(int argc, char * argv[]) {
JO jo; /* the monkey */
......
ADD_LIBRARY(csm STATIC
journal.c
laser_data.c
laser_data_fisher.c
laser_data_json.c
laser_data_carmen.c
json_journal.c
math_utils.c
utils.c
orientation.c
clustering.c
logging.c
sm_options.c
icp/icp.c
icp/icp_loop.c
icp/icp_corr_dumb.c
icp/icp_corr_tricks.c
icp/icp_outliers.c
icp/icp_covariance.c
gpm/gpm.c
)
TARGET_LINK_LIBRARIES(csm json-c egsl gpc)
TARGET_LINK_LIBRARIES(csm ${GSL_LIBRARIES})
INSTALL(TARGETS csm ARCHIVE DESTINATION lib)
INSTALL(FILES csm.h DESTINATION include/csm)
INSTALL(FILES laser_data.h DESTINATION include/csm)
File moved
#include <math.h>
#include "laser_data.h"
#include "csm_all.h"
/*
A very very simple clustering algorithm.
......
......@@ -6,11 +6,10 @@ extern "C" {
#include "laser_data.h"
#include "laser_data_json.h"
#include "sm.h"
#include "algos.h"
#include "utils.h"
#ifdef __cplusplus
}
#endif
......
#ifndef H_CSM_ALL
#define H_CSM_ALL
#include "csm.h"
#ifdef __cplusplus
extern "C" {
#endif
#include "journal.h"
#include "laser_data.h"
#include "json_journal.h"
#include "logging.h"
#include "math_utils.h"
#ifdef __cplusplus
}
#endif
#endif
\ No newline at end of file
......@@ -2,11 +2,10 @@
#include <gsl/gsl_matrix.h>
#include <gsl/gsl_vector.h>
#include <egsl/egsl_macros.h>
#include "../sm.h"
#include "../math_utils.h"
#include "../journal.h"
#include "../csm_all.h"
#include <egsl/egsl_macros.h>
void ght_find_theta_range(LDP laser_ref, LDP laser_sens,
const gsl_vector*x0, double max_linear_correction,
......
#include "../sm.h"
#include "../journal.h"
#include "../csm_all.h"
void sm_journal_open(const char* file) {
journal_open(file);
......
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