diff toolboxes/FullBNT-1.0.7/bnt/examples/dynamic/SLAM/slam_offline_loopy.m @ 0:e9a9cd732c1e tip

first hg version after svn

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/toolboxes/FullBNT-1.0.7/bnt/examples/dynamic/SLAM/slam_offline_loopy.m	Tue Feb 10 15:05:51 2015 +0000
@@ -0,0 +1,59 @@
+% Compare Kalman smoother with loopy
+
+seed = 0;
+rand('state', seed);
+randn('state', seed);
+nlandmarks = 6;
+T = 12;
+
+[A,B,C,Q,R,Qbig,Rbig,init_x,init_V,robot_block,landmark_block,...
+	  true_landmark_pos, true_robot_pos, true_data_assoc, ...
+	  obs_rel_pos, ctrl_signal] = mk_linear_slam(...
+	      'nlandmarks', nlandmarks, 'T', T, 'ctrl', 'leftright', 'data-assoc', 'cycle');
+
+[xsmooth, Vsmooth] = kalman_smoother(obs_rel_pos, A, C, Qbig, Rbig, init_x, init_V, ...
+				     'model', true_data_assoc, 'u', ctrl_signal, 'B', B);
+
+est_robot_pos = xsmooth(robot_block, :);
+est_robot_pos_cov = Vsmooth(robot_block, robot_block, :);
+
+for i=1:nlandmarks
+  bi = landmark_block(:,i);
+  est_landmark_pos(:,i) = xsmooth(bi, T);
+  est_landmark_pos_cov(:,:,i) = Vsmooth(bi, bi, T);
+end
+
+
+if 1
+  [bnet, Unode, Snode, Lnodes, Rnode, Ynode, Lsnode] = ...
+      mk_gmux_robot_dbn(nlandmarks, Q, R, init_x, init_V, robot_block, landmark_block);
+  engine = pearl_unrolled_dbn_inf_engine(bnet, 'max_iter', 50, 'filename', ...
+					 '/home/eecs/murphyk/matlab/loopyslam.txt');
+else
+  [bnet, Unode, Snode, Lnodes, Rnode, Ynode] = ...
+      mk_gmux2_robot_dbn(nlandmarks, Q, R, init_x, init_V, robot_block, landmark_block);
+  engine = jtree_dbn_inf_engine(bnet);
+end
+
+nnodes = bnet.nnodes_per_slice;
+evidence = cell(nnodes, T);
+evidence(Ynode, :) = num2cell(obs_rel_pos, 1);
+evidence(Unode, :) = num2cell(ctrl_signal, 1);
+evidence(Snode, :) = num2cell(true_data_assoc);
+
+[engine, ll, niter] = enter_evidence(engine, evidence);
+niter
+
+loopy_est_robot_pos = zeros(2, T);
+for t=1:T
+  m = marginal_nodes(engine, Rnode, t);
+  loopy_est_robot_pos(:,t) = m.mu;
+end
+
+for i=1:nlandmarks
+  m = marginal_nodes(engine, Lnodes(i), T);
+  loopy_est_landmark_pos(:,i) = m.mu;
+  loopy_est_landmark_pos_cov(:,:,i) = m.Sigma;
+end
+
+