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63 std::vector<size_t>& spanningTreeIds, std::vector<size_t>& chordsIds,
69 const std::vector<size_t>& spanningTreeIds,
86 bool useOdometricPath =
true);
90 const Values& initialGuess);
Linear Factor Graph where all factors are Gaussians.
key2doubleMap computeThetasToRoot(const key2doubleMap &deltaThetaMap, const PredecessorMap &tree)
void getSymbolicGraph(vector< size_t > &spanningTreeIds, vector< size_t > &chordsIds, key2doubleMap &deltaThetaMap, const PredecessorMap &tree, const NonlinearFactorGraph &g)
std::map< Key, Key > PredecessorMap
VectorValues initializeOrientations(const NonlinearFactorGraph &graph, bool useOdometricPath)
void g(const string &key, int i)
PredecessorMap findMinimumSpanningTree(const NonlinearFactorGraph &pose2Graph)
Factor Graph consisting of non-linear factors.
GaussianFactorGraph buildLinearOrientationGraph(const vector< size_t > &spanningTreeIds, const vector< size_t > &chordsIds, const NonlinearFactorGraph &g, const key2doubleMap &orientationsToRoot, const PredecessorMap &tree)
std::map< Key, double > key2doubleMap
NonlinearFactorGraph graph
Values initialize(const NonlinearFactorGraph &graph, bool useOdometricPath)
gtsam
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autogenerated on Sat Nov 16 2024 04:02:39