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28 using namespace gtsam;
30 int main(
int argc,
char** argv) {
47 auto model = noiseModel::Diagonal::Sigmas(
Vector3(0.2, 0.2, 0.1));
60 initialEstimate.
print(
"\nInitial Estimate:\n");
65 parameters.verbosityLM = LevenbergMarquardtParams::LAMBDA;
71 parameters.linearSolverType = NonlinearOptimizerParams::Iterative;
72 parameters.iterativeParams = std::make_shared<SubgraphSolverParameters>();
virtual const Values & optimize()
Subgraph Solver from IROS 2010.
int main(int argc, char **argv)
A nonlinear optimizer that uses the Levenberg-Marquardt trust-region scheme.
Verbosity verbosity() const
double error(const Values &values) const
static ConjugateGradientParameters parameters
void addPrior(Key key, const T &prior, const SharedNoiseModel &model=nullptr)
noiseModel::Diagonal::shared_ptr model
void print(const std::string &str="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
void insert(Key j, const Value &val)
NonlinearFactorGraph graph
IsDerived< DERIVEDFACTOR > emplace_shared(Args &&... args)
Emplace a shared pointer to factor of given type.
void print(const std::string &str="NonlinearFactorGraph: ", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:34:24