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May 4, 2025
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Add code links to SLAM module documentation #1212

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0 ..._closest_point/iterative_closest_point.py → SLAM/ICPMatching/icp_matching.py
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5 changes: 5 additions & 0 deletions docs/modules/4_slam/FastSLAM1/FastSLAM1_main.rst
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Expand Up @@ -22,6 +22,11 @@ The red points are particles of FastSLAM.
Black points are landmarks, blue crosses are estimated landmark
positions by FastSLAM.

Code Link
~~~~~~~~~~~~

.. autofunction:: SLAM.FastSLAM1.fast_slam1.fast_slam1


Introduction
~~~~~~~~~~~~
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6 changes: 6 additions & 0 deletions docs/modules/4_slam/FastSLAM2/FastSLAM2_main.rst
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Expand Up @@ -7,6 +7,12 @@ The animation has the same meanings as one of FastSLAM 1.0.

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/FastSLAM2/animation.gif

Code Link
~~~~~~~~~~~

.. autofunction:: SLAM.FastSLAM2.fast_slam2.fast_slam2


References
~~~~~~~~~~

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6 changes: 6 additions & 0 deletions docs/modules/4_slam/ekf_slam/ekf_slam_main.rst
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Expand Up @@ -21,6 +21,12 @@ This is a simulation of EKF SLAM.
- Blue line: ground truth
- Red line: EKF SLAM position estimation

Code Link
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

.. autofunction:: SLAM.EKFSLAM.ekf_slam.ekf_slam


Introduction
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

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6 changes: 6 additions & 0 deletions docs/modules/4_slam/graph_slam/graph_slam_main.rst
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Expand Up @@ -13,6 +13,12 @@ The black stars are landmarks for graph edge generation.

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/GraphBasedSLAM/animation.gif

Code Link
~~~~~~~~~~~~

.. autofunction:: SLAM.GraphBasedSLAM.graph_based_slam.graph_based_slam


.. include:: graphSLAM_doc.rst
.. include:: graphSLAM_formulation.rst
.. include:: graphSLAM_SE2_example.rst
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8 changes: 7 additions & 1 deletion ...slam/iterative_closest_point_matching/iterative_closest_point_matching_main.rst
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Expand Up @@ -10,7 +10,13 @@ points to points.

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/iterative_closest_point/animation.gif

Code Link
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. autofunction:: SLAM.ICPMatching.icp_matching.icp_matching


References
~~~~~~~~~~
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

- `Introduction to Mobile Robotics: Iterative Closest Point Algorithm <https://cs.gmu.edu/~kosecka/cs685/cs685-icp.pdf>`_
1 change: 1 addition & 0 deletions runtests.sh
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@@ -1,4 +1,5 @@
#!/usr/bin/env bash
cd "$(dirname "$0")" || exit 1
echo "Run test suites! "

# === pytest based test runner ===
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2 changes: 1 addition & 1 deletion tests/test_iterative_closest_point.py
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@@ -1,5 +1,5 @@
import conftest
from SLAM.iterative_closest_point import iterative_closest_point as m
from SLAM.ICPMatching import icp_matching as m


def test_1():
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