test_relinearization Namespace Reference

Functions
static HybridNonlinearFactorGraph	CreateFactorGraph (const std::vector< double > &means, const std::vector< double > &sigmas, DiscreteKey &m1, double x0_measurement, 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 (re-)linearization. More...

Function Documentation

CreateFactorGraph()

static HybridNonlinearFactorGraph test_relinearization::CreateFactorGraph ( const std::vector< double > &  means, const std::vector< double > &  sigmas, DiscreteKey &  m1, double  x0_measurement, 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 (re-)linearization.

Parameters

means	The means of the HybridGaussianFactor components.
sigmas	The covariances of the HybridGaussianFactor components.
m1	The discrete key.
x0_measurement	A measurement on X0

Returns

HybridGaussianFactorGraph

Definition at line 891 of file testHybridNonlinearFactorGraph.cpp.