Functions | |
static HybridGaussianFactorGraph | CreateFactorGraph (const gtsam::Values &values, const std::vector< double > &means, const std::vector< double > &sigmas, DiscreteKey &m1, double measurement_noise=1e-3) |
Create a Factor Graph by directly specifying all the factors instead of creating conditionals first. This way we can directly provide the likelihoods and then perform linearization. More... | |
|
static |
Create a Factor Graph by directly specifying all the factors instead of creating conditionals first. This way we can directly provide the likelihoods and then perform linearization.
values | Initial values to linearize around. |
means | The means of the HybridGaussianFactor components. |
sigmas | The covariances of the HybridGaussianFactor components. |
m1 | The discrete key. |
Definition at line 182 of file testHybridGaussianFactor.cpp.