Add code links to SLAM module documentation

AtsushiSakai · AtsushiSakai · commit e90cbe028d2b · 2025-05-04T09:03:34.000+09:00
This commit updates SLAM module documentation files to include direct code links for better navigation. It also adjusts imports in `test_iterative_closest_point.py` to reflect updated module structure and adds a safety check for the directory in `runtests.sh`.
diff --git a/SLAM/ICPMatching/icp_matching.py b/SLAM/ICPMatching/icp_matching.py
diff --git a/docs/modules/4_slam/FastSLAM1/FastSLAM1_main.rst b/docs/modules/4_slam/FastSLAM1/FastSLAM1_main.rst
@@ -22,6 +22,11 @@ The red points are particles of FastSLAM.
 Black points are landmarks, blue crosses are estimated landmark
 positions by FastSLAM.
 
+Code Link
+~~~~~~~~~~~~
+
+.. autofunction:: SLAM.FastSLAM1.fast_slam1.fast_slam1
+
 
 Introduction
 ~~~~~~~~~~~~
diff --git a/docs/modules/4_slam/FastSLAM2/FastSLAM2_main.rst b/docs/modules/4_slam/FastSLAM2/FastSLAM2_main.rst
@@ -7,6 +7,12 @@ The animation has the same meanings as one of FastSLAM 1.0.
 
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/FastSLAM2/animation.gif
 
+Code Link
+~~~~~~~~~~~
+
+.. autofunction:: SLAM.FastSLAM2.fast_slam2.fast_slam2
+
+
 References
 ~~~~~~~~~~
 
diff --git a/docs/modules/4_slam/ekf_slam/ekf_slam_main.rst b/docs/modules/4_slam/ekf_slam/ekf_slam_main.rst
@@ -21,6 +21,12 @@ This is a simulation of EKF SLAM.
 -  Blue line: ground truth
 -  Red line: EKF SLAM position estimation
 
+Code Link
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autofunction:: SLAM.EKFSLAM.ekf_slam.ekf_slam
+
+
 Introduction
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
diff --git a/docs/modules/4_slam/graph_slam/graph_slam_main.rst b/docs/modules/4_slam/graph_slam/graph_slam_main.rst
@@ -13,6 +13,12 @@ The black stars are landmarks for graph edge generation.
 
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/GraphBasedSLAM/animation.gif
 
+Code Link
+~~~~~~~~~~~~
+
+.. autofunction:: SLAM.GraphBasedSLAM.graph_based_slam.graph_based_slam
+
+
 .. include:: graphSLAM_doc.rst
 .. include:: graphSLAM_formulation.rst
 .. include:: graphSLAM_SE2_example.rst
diff --git a/docs/modules/4_slam/iterative_closest_point_matching/iterative_closest_point_matching_main.rst b/docs/modules/4_slam/iterative_closest_point_matching/iterative_closest_point_matching_main.rst
@@ -10,7 +10,13 @@ points to points.
 
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/iterative_closest_point/animation.gif
 
+Code Link
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autofunction:: SLAM.ICPMatching.icp_matching.icp_matching
+
+
 References
-~~~~~~~~~~
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 - `Introduction to Mobile Robotics: Iterative Closest Point Algorithm <https://cs.gmu.edu/~kosecka/cs685/cs685-icp.pdf>`_
diff --git a/runtests.sh b/runtests.sh
@@ -1,4 +1,5 @@
 #!/usr/bin/env bash
+cd "$(dirname "$0")" || exit 1
 echo "Run test suites! "
 
 # === pytest based test runner ===
diff --git a/tests/test_iterative_closest_point.py b/tests/test_iterative_closest_point.py
@@ -1,5 +1,5 @@
 import conftest
-from SLAM.iterative_closest_point import iterative_closest_point as m
+from SLAM.ICPMatching import icp_matching as m
 
 
 def test_1():

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,5 @@`
`1`	`1`	`#!/usr/bin/env bash`
	`2`	`+cd "$(dirname "$0")" \|\| exit 1`
`2`	`3`	`echo "Run test suites! "`
`3`	`4`
`4`	`5`	`# === pytest based test runner ===`