Functions
test_direct_factor_graph Namespace Reference

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...
 

Function Documentation

◆ CreateFactorGraph()

static HybridGaussianFactorGraph test_direct_factor_graph::CreateFactorGraph ( const gtsam::Values values,
const std::vector< double > &  means,
const std::vector< double > &  sigmas,
DiscreteKey m1,
double  measurement_noise = 1e-3 
)
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.

Parameters
valuesInitial values to linearize around.
meansThe means of the HybridGaussianFactor components.
sigmasThe covariances of the HybridGaussianFactor components.
m1The discrete key.
Returns
HybridGaussianFactorGraph

Definition at line 402 of file testHybridMotionModel.cpp.



gtsam
Author(s):
autogenerated on Thu Nov 28 2024 04:17:17