doc
Code
doc/Code/Pose2SLAMExample.cpp
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1
NonlinearFactorGraph
graph
;
2
noiseModel::Diagonal::shared_ptr
priorNoise
=
3
noiseModel::Diagonal::Sigmas(
Vector3
(0.3, 0.3, 0.1));
4
graph
.addPrior(1, Pose2(0, 0, 0),
priorNoise
);
5
6
// Add odometry factors
7
noiseModel::Diagonal::shared_ptr
model
=
8
noiseModel::Diagonal::Sigmas(
Vector3
(0.2, 0.2, 0.1));
9
graph
.add(BetweenFactor<Pose2>(1, 2, Pose2(2, 0, 0 ),
model
));
10
graph
.add(BetweenFactor<Pose2>(2, 3, Pose2(2, 0,
M_PI_2
),
model
));
11
graph
.add(BetweenFactor<Pose2>(3, 4, Pose2(2, 0,
M_PI_2
),
model
));
12
graph
.add(BetweenFactor<Pose2>(4, 5, Pose2(2, 0,
M_PI_2
),
model
));
13
14
// Add the loop closure constraint
15
graph
.add(BetweenFactor<Pose2>(5, 2, Pose2(2, 0,
M_PI_2
),
model
));
16
gtsam::Vector3
Eigen::Vector3d Vector3
Definition:
Vector.h:43
priorNoise
noiseModel::Diagonal::shared_ptr priorNoise
Definition:
doc/Code/Pose2SLAMExample.cpp:2
model
noiseModel::Diagonal::shared_ptr model
Definition:
doc/Code/Pose2SLAMExample.cpp:7
M_PI_2
#define M_PI_2
Definition:
mconf.h:118
graph
NonlinearFactorGraph graph
Definition:
doc/Code/Pose2SLAMExample.cpp:1
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:03:36