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57 using namespace gtsam;
77 prior.print(
"goal angle");
78 auto model = noiseModel::Isotropic::Sigma(1, 1 *
degree);
112 initial.print(
"initial estimate");
virtual const Values & optimize()
A nonlinear optimizer that uses the Levenberg-Marquardt trust-region scheme.
void addPrior(Key key, const T &prior, const SharedNoiseModel &model=nullptr)
noiseModel::Diagonal::shared_ptr model
const gtsam::Symbol key('X', 0)
void print(const std::string &str="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
Factor Graph consisting of non-linear factors.
NonlinearFactorGraph graph
A non-templated config holding any types of Manifold-group elements.
void print(const std::string &str="NonlinearFactorGraph: ", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:35:16