Real time slam

It is possible to use realtime laser data for "online" slam. I am doing soo, my code is buggy at the moment though but I'll put a version up in about a week if you wish. Please remember im fairly new to mrpt and not 100% sure on how things should be done but the relivent bits of code are.

if you create and startup the mapbuilder (with either a param file or load map)

you'll need a instance of 2drangeclass I think, which will allow you to update the 2dscan like below

scan = CObservation2DRangeScan::Create();
for(int hh =0 ; hh< validrangesize /*LaserData.size()*/;hh++)
{
scan->scan[hh]=LaserData.get(hh).asDouble()/1000;
}

mapBuilder->processObservation(scan);

It is important to RECREATE the scan each time you add a scan, with the create method it gives it local time etc so if you want to save + compress data this is very important. then process the data.

how far along are you with mrpt? Like I said I can put my current code up (buggy still), I have some graphic stuff etc etc.

StudentGuy