doc
Code
doc/Code/OdometryExample.cpp
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1
// Create an empty nonlinear factor graph
2
NonlinearFactorGraph
graph
;
3
4
// Add a Gaussian prior on pose x_1
5
Pose2
priorMean
(0.0, 0.0, 0.0);
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auto
priorNoise
= noiseModel::Diagonal::Sigmas(
Vector3
(0.3, 0.3, 0.1));
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graph
.add(PriorFactor<Pose2>(1,
priorMean
,
priorNoise
));
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// Add two odometry factors
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Pose2
odometry
(2.0, 0.0, 0.0);
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auto
odometryNoise
= noiseModel::Diagonal::Sigmas(
Vector3
(0.2, 0.2, 0.1));
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graph
.add(BetweenFactor<Pose2>(1, 2,
odometry
,
odometryNoise
));
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graph
.add(BetweenFactor<Pose2>(2, 3,
odometry
,
odometryNoise
));
priorMean
Pose2 priorMean(0.0, 0.0, 0.0)
gtsam::Vector3
Eigen::Vector3d Vector3
Definition:
Vector.h:43
odometry
Pose2 odometry(2.0, 0.0, 0.0)
priorNoise
auto priorNoise
Definition:
doc/Code/OdometryExample.cpp:6
odometryNoise
auto odometryNoise
Definition:
doc/Code/OdometryExample.cpp:11
graph
NonlinearFactorGraph graph
Definition:
doc/Code/OdometryExample.cpp:2
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:33:52