Experimental graphslam engine

apps/RawLogViewer/main_convert_ops.cpp

@@ -712,16 +712,18 @@ void xRawLogViewerFrame::OnMenuConvertObservationOnly(wxCommandEvent& event)
 					CActionCollectionPtr	acts = CActionCollectionPtr( newObj );
 					// Get odometry:
 					CActionRobotMovement2DPtr actOdom = acts->getBestMovementEstimation();
-					ASSERT_(actOdom);
-					odometry_accum = odometry_accum + actOdom->poseChange->getMeanVal();
+					if (actOdom)
+					{
+						odometry_accum = odometry_accum + actOdom->poseChange->getMeanVal();
 
-					// Generate "odometry obs":
-					CObservationOdometryPtr  newO = CObservationOdometry::Create();
-					newO->sensorLabel = "odometry";
-					newO->timestamp   = actOdom->timestamp!=INVALID_TIMESTAMP ?  actOdom->timestamp : lastValidObsTime;
-					newO->odometry    = odometry_accum;
+						// Generate "odometry obs":
+						CObservationOdometryPtr  newO = CObservationOdometry::Create();
+						newO->sensorLabel = "odometry";
+						newO->timestamp   = actOdom->timestamp!=INVALID_TIMESTAMP ?  actOdom->timestamp : lastValidObsTime;
+						newO->odometry    = odometry_accum;
 
-					time_ordered_list_observation.insert( TTimeObservationPair( newO->timestamp, newO ));
+						time_ordered_list_observation.insert( TTimeObservationPair( newO->timestamp, newO ));
+					}
 				}
 				else
 				if ( newObj->GetRuntimeClass()->derivedFrom( CLASS_ID(CObservation) ) )

apps/RawLogViewer/xRawLogViewerMain.cpp

@@ -3688,7 +3688,7 @@ void xRawLogViewerFrame::OnDecimateRecords(wxCommandEvent& event)
 	//  To free the memory of the current rawlog entries as we create the new one,
 	//  then call "clearWithoutDelete" at the end.
 	// ------------------------------------------------------------------------------
-	CSensoryFramePtr last_sf ( CSerializablePtr( static_cast<CSerializable*>(NULL)) );
+	CSensoryFramePtr last_sf; // empty ptr
 	CActionRobotMovement2D::TMotionModelOptions	odometryOptions;
 	bool					cummMovementInit = false;
 	long 					SF_counter = 0;

apps/icp-graph-slam/CMakeLists.txt

@@ -0,0 +1,26 @@
+INCLUDE(../../cmakemodules/AssureCMakeRootFile.cmake) # Avoid user mistake in CMake source directory
+
+#-----------------------------------------------------------------
+# CMake file for the MRPT application:  icp-graph-slam
+#  Feb 2014, Jose Luis Blanco
+#-----------------------------------------------------------------
+PROJECT(icp_graph_slam)
+
+# ---------------------------------------------
+# TARGET:
+# ---------------------------------------------
+SET(TMP_TARGET_NAME "icp-graph-slam")
+
+# Define the executable target:
+ADD_EXECUTABLE(${TMP_TARGET_NAME}
+               icp-graph-slam_main.cpp)
+
+# Add the required libraries for linking:
+TARGET_LINK_LIBRARIES(${TMP_TARGET_NAME} ${MRPT_LINKER_LIBS})
+
+# Dependencies on MRPT libraries:
+#  Just mention the top-level dependency, the rest will be detected automatically, 
+#  and all the needed #include<> dirs added (see the script DeclareAppDependencies.cmake for further details)
+DeclareAppDependencies(${TMP_TARGET_NAME} mrpt-gui mrpt-graphslam)
+
+DeclareAppForInstall(${TMP_TARGET_NAME})