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56 using namespace gtsam;
76 using NoiseModelFactor1<Pose2>::evaluateError;
99 const Rot2&
R =
q.rotation();
101 return (
Vector(2) <<
q.x() - mx_,
q.y() - my_).finished();
108 return std::static_pointer_cast<gtsam::NonlinearFactor>(
117 int main(
int argc,
char** argv) {
131 noiseModel::Diagonal::Sigmas(
Vector2(0.1, 0.1));
143 initialEstimate.
print(
"\nInitial Estimate:\n");
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std::shared_ptr< This > shared_ptr
virtual const Values & optimize()
A nonlinear optimizer that uses the Levenberg-Marquardt trust-region scheme.
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
Matrix marginalCovariance(Key variable) const
EIGEN_DEVICE_FUNC const Scalar & q
Vector evaluateError(const Pose2 &q, OptionalMatrixType H) const override
noiseModel::Base::shared_ptr SharedNoiseModel
noiseModel::Diagonal::shared_ptr model
Non-linear factor base classes.
void print(const std::string &str="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
A class for computing marginals in a NonlinearFactorGraph.
Factor Graph consisting of non-linear factors.
void insert(Key j, const Value &val)
Matrix * OptionalMatrixType
NonlinearFactorGraph graph
int main(int argc, char **argv)
Marginals marginals(graph, result)
std::uint64_t Key
Integer nonlinear key type.
std::shared_ptr< UnaryFactor > shared_ptr
shorthand for a smart pointer to a factor
UnaryFactor(Key j, double x, double y, const SharedNoiseModel &model)
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
Rot2 R(Rot2::fromAngle(0.1))
A non-templated config holding any types of Manifold-group elements.
gtsam::NonlinearFactor::shared_ptr clone() const override
IsDerived< DERIVEDFACTOR > emplace_shared(Args &&... args)
Emplace a shared pointer to factor of given type.
void print(const std::string &str="NonlinearFactorGraph: ", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:33:09