OdometryMarginals.cpp
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1 // Query the marginals
2 cout.precision(2);
3 Marginals marginals(graph, result);
4 cout << "x1 covariance:\n" << marginals.marginalCovariance(1) << endl;
5 cout << "x2 covariance:\n" << marginals.marginalCovariance(2) << endl;
6 cout << "x3 covariance:\n" << marginals.marginalCovariance(3) << endl;
NonlinearFactorGraph graph
Values result
Marginals marginals(graph, result)


gtsam
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autogenerated on Tue Jul 4 2023 02:34:58