Estimators: add filter example to connect with GTSAM

src/CMakeLists.txt

@@ -3,4 +3,5 @@
 # GNU Lesser General Public License v2.1 or any later version.
 
 add_subdirectory(Perception)
+add_subdirectory(Estimators)
 

src/Estimators/CMakeLists.txt

@@ -0,0 +1,13 @@
+# Copyright (C) 2021 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# GNU Lesser General Public License v2.1 or any later version.
+
+set(H_PREFIX include/KinDynVIO/Estimators)
+add_kindyn_vio_library(
+NAME                   Estimators
+SOURCES                src/KinDynVIO.cpp
+PUBLIC_HEADERS         ${H_PREFIX}/KinDynVIO.h
+SUBDIRECTORIES         tests
+PUBLIC_LINK_LIBRARIES  BipedalLocomotion::ParametersHandler BipedalLocomotion::TextLogging BipedalLocomotion::FloatingBaseEstimators gtsam
+INSTALLATION_FOLDER    Estimators)
+

src/Estimators/include/KinDynVIO/Estimators/KinDynVIO.h

@@ -0,0 +1,14 @@
+/**
+ * @file KinDynVIO.h
+ * @authors Prashanth Ramadoss
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#ifndef KINDYNVIO_ESTIMATORS_KINDYNVIO_H
+#define KINDYNVIO_ESTIMATORS_KINDYNVIO_H
+
+// Currently only a placeholder file for creating the Estimators component
+// source code to be added soon
+
+#endif //KINDYNVIO_ESTIMATORS_KINDYNVIO_H

src/Estimators/src/KinDynVIO.cpp

@@ -0,0 +1,9 @@
+/**
+ * @file KinDynVIO.cpp
+ * @authors Prashanth Ramadoss
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+// Currently only a placeholder file for creating the Estimators component
+// source code to be added soon

src/Estimators/tests/CMakeLists.txt

@@ -0,0 +1,19 @@
+# Copyright (C) 2021 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# GNU Lesser General Public License v2.1 or any later version.
+# Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# GNU Lesser General Public License v2.1 or any later version.
+
+include_directories(${CMAKE_CURRENT_BINARY_DIR})
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/ResourceFolderPath.h.in" "${CMAKE_CURRENT_BINARY_DIR}/ResourceFolderPath.h" @ONLY)
+
+add_kindyn_vio_test(
+ NAME LeggedOdometryiSAM2
+ SOURCES LeggedOdometryiSAM2.cpp
+ LINKS BipedalLocomotion::FloatingBaseEstimators BipedalLocomotion::ContactDetectors BipedalLocomotion::ParametersHandler BipedalLocomotion::ManifConversions Eigen3::Eigen MANIF::manif gtsam matioCpp::matioCpp iDynTree::idyntree-core iDynTree::idyntree-modelio-urdf BipedalLocomotion::System)
+
+add_kindyn_vio_test(
+ NAME EKFOdometryiSAM2
+ SOURCES EKFOdometryiSAM2.cpp
+ LINKS BipedalLocomotion::FloatingBaseEstimators BipedalLocomotion::ContactDetectors BipedalLocomotion::ParametersHandler BipedalLocomotion::ManifConversions Eigen3::Eigen MANIF::manif gtsam matioCpp::matioCpp iDynTree::idyntree-core iDynTree::idyntree-modelio-urdf BipedalLocomotion::System)