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typedef std::shared_ptr< NonlinearFactor > | shared_nlf |
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Symbol | key (size_t x, size_t y) |
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static const Key | _l1_ =0 |
static const Key | _x1_ =1 |
static const Key | _x2_ =2 |
static const Key | _x_ =0 |
static const Key | _y_ =1 |
static const Key | _z_ =2 |
static SharedDiagonal | kConstrainedModel = noiseModel::Constrained::All(2) |
static SharedDiagonal | kSigma0_1 = noiseModel::Isotropic::Sigma(2,0.1) |
static SharedDiagonal | kSigma0_2 = noiseModel::Isotropic::Sigma(2,0.2) |
static SharedDiagonal | kSigma1_0 = noiseModel::Isotropic::Sigma(2,1.0) |
Create small example for non-linear factor graph Create values structure to go with it The ground truth values structure for the example above Vector Values equivalent create a noisy values structure for a nonlinear factor graph Zero delta config Delta config that, when added to noisyValues, returns the ground truth create a linear factor graph The non-linear graph above evaluated at NoisyValues create small Chordal Bayes Net x <- y Create really non-linear factor graph (cos/sin) Create a full nonlinear smoother
T | number of time-steps Create a Kalman smoother by linearizing a non-linear factor graph |
T | number of time-steps Creates a simple constrained graph with one linear factor and one binary equality constraint that sets x = y Creates a simple constrained graph with one linear factor and one binary constraint. Creates a constrained graph with a linear factor and two binary constraints that share a node |
typedef std::shared_ptr<NonlinearFactor> gtsam::example::impl::shared_nlf |
Definition at line 159 of file smallExample.h.
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Definition at line 161 of file smallExample.h.