-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathfactor_graph_slam.tex
69 lines (57 loc) · 2.65 KB
/
factor_graph_slam.tex
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
\documentclass[]{standalone}
\usepackage{amsmath}
\usepackage{amsfonts}
\usepackage{amssymb}
\usepackage{graphicx}
\usepackage{tikz}
\usepackage{import}
\usepackage[subpreambles=true]{standalone}
\usepackage{tikz}
\usepackage{tikz-3dplot}
\usepackage{tikz_utils}
\usetikzlibrary{calc}
\usetikzlibrary{positioning}
\usetikzlibrary{patterns}
\usetikzlibrary{decorations,backgrounds}
\begin{document}
\begin{tikzpicture}[scale=1, thick]
% states
\node (x0) at (0,0) [shape=circle,draw=black, fill=gray!30, minimum size=1cm] {$x_0$};
\node (x1) at (3,0) [shape=circle,draw=black, fill=gray!30, minimum size=1cm] {$x_1$};
\node (x2) at (6,0) [shape=circle,draw=black, fill=gray!30, minimum size=1cm] {$x_2$};
\node (x3) at (9,0) [shape=circle,draw=black, fill=gray!30, minimum size=1cm] {$x_3$};
% controls
\node (u1) at (1.5,0) [shape=rectangle,draw=black, fill=gray!30, minimum size=0.7cm] {$u_1$};
\node (u2) at (4.5,0) [shape=rectangle,draw=black, fill=gray!30, minimum size=0.7cm] {$u_2$};
\node (u3) at (7.5,0) [shape=rectangle,draw=black, fill=gray!30, minimum size=0.7cm] {$u_3$};
% measurements
\node (z1) at (3,-1.5) [shape=rectangle,draw=black, fill=gray!30, minimum size=0.7cm] {$z_1$};
\node (z2) at (6,-1.5) [shape=rectangle,draw=black, fill=gray!30, minimum size=0.7cm] {$z_2$};
\node (z3) at (9,-1.5) [shape=rectangle,draw=black, fill=gray!30, minimum size=0.7cm] {$z_3$};
% landmarks
\node (m1) at (3,-3) [shape=circle,draw=black, fill=gray!30, minimum size=1cm] {$m_1$};
\node (m2) at (6,-3) [shape=circle,draw=black, fill=gray!30, minimum size=1cm] {$m_2$};
\node (m3) at (9,-3) [shape=circle,draw=black, fill=gray!30, minimum size=1cm] {$m_3$};
% connections
\draw[-] (x0) -- (u1);
\draw[-] (x1) -- (u2);
\draw[-] (x2) -- (u3);
\draw[-] (u1) -- (x1);
\draw[-] (u2) -- (x2);
\draw[-] (u3) -- (x3);
\draw[-] (x1) -- (z1);
\draw[-] (x2) -- (z2);
\draw[-] (x3) -- (z3);
\draw[-] (m1) -- (z1);
\draw[-] (m2) -- (z2);
\draw[-] (m3) -- (z3);
% observed
% \node (x0) at (-2,-2) [shape=circle,draw=black, fill=gray!70, minimum size=1cm] {$x_0$};
% \node (x1) at (-0.66,-2) [shape=circle,draw=black, fill=gray!70, minimum size=1cm] {$x_1$};
% \node (dots) at (0.66,-2) {\ldots};
% \node (xn) at (2,-2) [shape=circle,draw=black, fill=gray!70, minimum size=1cm] {$x_N$};
% \draw[->] (z) -- (x0);
% \draw[->] (z) -- (x1);
% \draw[->] (z) -- (xn);
\end{tikzpicture}
\end{document}