SLAM-Exploration

This will be a repository for exploring SLAM topics based lectures by Professor Claus Brenner. Rather than Python, the associated code for the lectures and assignments will be written in modern C++.

Getting Started

Course Information

Prequisites

CMake
Compiler version that supports C++17

Build and Setup

Clone repo

git clone [email protected]:patrick--/SLAM-Exploration.git
Move into clone repo

cd SLAM-Exploration
Create build directory and generate build dependencies
```
 mkdir build && cd build
 cmake ..
```
Build All Examples
```
 make
```
Run Examples
```
  ./UnitA/slam_01_a_plot_motor_ticks
```

File Overview

Unit A

Resource Files

robot4_motors.txt - Sample motor encoder data from robot

Example Code

slam_01_a_plot_motor_ticks.cpp - Plot the raw motor encoder data
slam_01_b_print_motor_increments.cpp - Print differential motor encoder data
slam_01_c_plot_motor_increments.cpp - Plot differential motor encoder data

Solved Assignments

slam_02_a_filter_motor_question.cpp - Plot robots movement in 2D utilizing motor sensor data and motion equations.