From 555106522a0515e285f74004838348298a371259 Mon Sep 17 00:00:00 2001
From: Arnaud Degroote <arnaud.degroote@laas.fr>
Date: Tue, 19 Mar 2013 18:35:40 +0100
Subject: [PATCH] [wip/rtslam-genom] Introduce rtslam-genom 0.1
rtslam-genom provides a real-time slam, providing localization with
really accurate precision.
---
Makefile | 1 +
rtslam-genom/DESCR | 22 ++++++++++++++++++++++
rtslam-genom/Makefile | 25 +++++++++++++++++++++++++
rtslam-genom/PLIST | 4 ++++
rtslam-genom/depend.mk | 24 ++++++++++++++++++++++++
rtslam-genom/distinfo | 3 +++
6 files changed, 79 insertions(+)
create mode 100644 rtslam-genom/DESCR
create mode 100644 rtslam-genom/Makefile
create mode 100644 rtslam-genom/PLIST
create mode 100644 rtslam-genom/depend.mk
create mode 100644 rtslam-genom/distinfo
diff --git a/Makefile b/Makefile
index 4eb83e8e..f833443f 100644
--- a/Makefile
+++ b/Makefile
@@ -59,6 +59,7 @@ SUBDIR+= rednav-genom
SUBDIR+= rfid-genom
SUBDIR+= robotModelParser-libs
SUBDIR+= robot-viewer
+SUBDIR+= rtslam-genom
SUBDIR+= spark-genom
SUBDIR+= sparkyarp-genom
SUBDIR+= tcl-genomix
diff --git a/rtslam-genom/DESCR b/rtslam-genom/DESCR
new file mode 100644
index 00000000..9adeb059
--- /dev/null
+++ b/rtslam-genom/DESCR
@@ -0,0 +1,22 @@
+RT-SLAM stands for Real Time SLAM (Simultaneous Localization And Mapping).
+
+RT-SLAM is a fast Slam library and test framework based on EKF. Its main
+qualities are:
+ - genericity: for sensor models, landmark types, landmark models, landmarks
+ reparametrization, biases estimation;
+ - speed: real time at 60 fps (VGA, gray level) on a decent machine (at
+ least one Core2 core at 2.2GHz)
+ - flexibility: different estimation/image processing sequencing strategies
+ (active search), independent base brick for a hierarchical multimap and
+ multirobots architecture;
+ - robustness: near-optimal repartition of landmarks, data association
+ errors detection (gating, ransac);
+ - developer-friendly: visualization tools (2D and 3D), offline replay step
+ by step, logs, simulation.
+
+For now it provides:
+ - Landmarks: Anchored Homogeneous Points (Inverse Depth) that can be
+ reparametrized into Euclidean Points;
+ - Sensors: Pinhole cameras;
+ - Prediction: Constant velocity model, inertial sensor;
+ - Data association: Active search, 1-point Ransac, and mixed strategies.
diff --git a/rtslam-genom/Makefile b/rtslam-genom/Makefile
new file mode 100644
index 00000000..5eaff66f
--- /dev/null
+++ b/rtslam-genom/Makefile
@@ -0,0 +1,25 @@
+
+DISTNAME= rtslam-genom-${VERSION}
+VERSION= 0.1
+CATEGORIES= localization
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=rtslam-genom/}
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_OPENROBOTS}rtslam-genom
+
+MAINTAINER= openrobots@laas.fr
+#HOMEPAGE=
+COMMENT= Realtime slam - genom module
+
+GNU_CONFIGURE= yes
+
+define PKG_OPTION_UNSET.api
+ include ../../wip/jafar-rtslam/depend.mk
+endef
+
+GENOM_MODULE= rtslam
+include ../../architecture/genom/depend.mk
+
+include ../../interfaces/genBasic-genom/depend.mk
+include ../../localization/pom-genom/depend.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/rtslam-genom/PLIST b/rtslam-genom/PLIST
new file mode 100644
index 00000000..4c7f0a19
--- /dev/null
+++ b/rtslam-genom/PLIST
@@ -0,0 +1,4 @@
+@comment Tue Mar 19 15:30:44 CET 2013
+@comment includes architecture/genom/PLIST.module
+include/${GENOM_MODULE}/${GENOM_MODULE}Struct.h
+share/modules/gen/${GENOM_MODULE}.gen
diff --git a/rtslam-genom/depend.mk b/rtslam-genom/depend.mk
new file mode 100644
index 00000000..f603e603
--- /dev/null
+++ b/rtslam-genom/depend.mk
@@ -0,0 +1,24 @@
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+RTSLAM_GENOM_DEPEND_MK:= ${RTSLAM_GENOM_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= rtslam-genom
+endif
+
+ifeq (+,$(RTSLAM_GENOM_DEPEND_MK))
+PREFER.rtslam-genom?= robotpkg
+
+DEPEND_USE+= rtslam-genom
+
+DEPEND_ABI.rtslam-genom?= rtslam-genom>=0.1
+DEPEND_DIR.rtslam-genom?= ../../wip/rtslam-genom
+
+SYSTEM_SEARCH.rtslam-genom=\
+ include/rtslam/rtslam-Struct.h \
+ lib/pkgconfig/rtslam.pc
+
+include ../../architecture/genom/depend.mk
+
+endif
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/rtslam-genom/distinfo b/rtslam-genom/distinfo
new file mode 100644
index 00000000..4597ec37
--- /dev/null
+++ b/rtslam-genom/distinfo
@@ -0,0 +1,3 @@
+SHA1 (rtslam-genom-0.1.tar.gz) = 0be2e3807022dbfb3e79064eb54689da6e91e2ad
+RMD160 (rtslam-genom-0.1.tar.gz) = 9d05b234798f71aafc6b4d33a0dcc92221f1f83e
+Size (rtslam-genom-0.1.tar.gz) = 6468 bytes
--
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