The Mobile Robot Programming Toolkit

For those who are new into mobile robotics and want some introductions for "beginners", please checkout the posts and links in this forum thread: http://www.mrpt.org/node/441

More technical introductions from the scientific literature:

MRPT and MOOS are the two libraries behind the OpenMORA robotic framework.

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1. Text .graph file format

This file format was (to the best of my knowledge) first used in public software with TORO, and since then has been employed by other libraries and programs published in OpenSLAM.org.

The MRPT defines a set of standard file formats with the intention of easing the exchange of robotic raw datasets, and also already built maps, between different programs and C++ classes.
Below can be found the so far well-established file formats:

The main class behind 3D scenes is mrpt::opengl::COpenGLScene, which allows the user to create, load, save, and render 3D scenes using OpenGL primitives.

The following C++ classes are the base for different PF implementations all across MRPT:

Kalman Filter algorithms (EKF,IEKF,UKF) are centralized in one single virtual class, mrpt::bayes::CKalmanFilterCapable. This class contains the system state vector and the system covariance matrix, as well as a generic method to execute one complete iteration of the selected algorithm. In practice, solving a specific problem requires deriving a new class from this virtual class and implementing a few methods such as transforming the state vector through the transition model, or computing the Jacobian of the observation model linearized at some given value of the state space.

1. About maps in the MRPT

All metric maps have a common interface to ease polymorphism and generic programming. To see these common methods, refer to the C++ class CMetricMap. All the map classes are within the namespace mrpt::slam, which is omitted here for readability.