LocalizationExample2.cpp
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1 // add unary measurement factors, like GPS, on all three poses
2 auto unaryNoise =
3  noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.1)); // 10cm std on x,y
4 graph.emplace_shared<UnaryFactor>(1, 0.0, 0.0, unaryNoise);
5 graph.emplace_shared<UnaryFactor>(2, 2.0, 0.0, unaryNoise);
6 graph.emplace_shared<UnaryFactor>(3, 4.0, 0.0, unaryNoise);
7 
gtsam::Vector2
Eigen::Vector2d Vector2
Definition: Vector.h:42
graph
NonlinearFactorGraph graph
Definition: doc/Code/OdometryExample.cpp:2
UnaryFactor
Definition: LocalizationFactor.cpp:1
unaryNoise
auto unaryNoise
Definition: LocalizationExample2.cpp:2


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autogenerated on Fri Nov 1 2024 03:33:09