test_direct_factor_graph Namespace Reference

Functions
static HybridGaussianFactorGraph	CreateFactorGraph (const gtsam::Values &values, const std::vector< double > &means, const std::vector< double > &sigmas, DiscreteKey &m1, double measurement_noise=1e-3)
	Create a Factor Graph by directly specifying all the factors instead of creating conditionals first. This way we can directly provide the likelihoods and then perform linearization. More...

Function Documentation

CreateFactorGraph()

static HybridGaussianFactorGraph test_direct_factor_graph::CreateFactorGraph ( const gtsam::Values &  values, const std::vector< double > &  means, const std::vector< double > &  sigmas, DiscreteKey &  m1, double  measurement_noise = 1e-3  )

static

Create a Factor Graph by directly specifying all the factors instead of creating conditionals first. This way we can directly provide the likelihoods and then perform linearization.

Parameters

values	Initial values to linearize around.
means	The means of the HybridGaussianFactor components.
sigmas	The covariances of the HybridGaussianFactor components.
m1	The discrete key.

Returns

HybridGaussianFactorGraph

Definition at line 402 of file testHybridMotionModel.cpp.