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28 using namespace gtsam;
69 auto huber_model = noiseModel::Robust::Create(
70 noiseModel::mEstimator::Huber::Create(1.345),
rot3_model);
77 const auto &robust = std::dynamic_pointer_cast<noiseModel::Robust>(
static int runAllTests(TestResult &result)
#define EXPECT_LONGS_EQUAL(expected, actual)
#define EXPECT(condition)
bool equals(const BinaryMeasurement &expected, double tol=1e-9) const
static SharedNoiseModel rot3_model(noiseModel::Isotropic::Sigma(3, 0.05))
3D rotation represented as a rotation matrix or quaternion
const SharedNoiseModel & noiseModel() const
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
static const Key kKey2(1)
TEST(BinaryMeasurement, Unit3)
noiseModel::Base::shared_ptr SharedNoiseModel
static SharedNoiseModel unit3_model(noiseModel::Isotropic::Sigma(2, 0.05))
Binary measurement represents a measurement between two keys in a graph. A binary measurement is simi...
const Unit3 unit3Measured(Vector3(1, 1, 1))
static const Key kKey1(2)
bool equals(const Unit3 &s, double tol=1e-9) const
The equals function with tolerance.
Represents a 3D point on a unit sphere.
const T & measured() const
std::uint64_t Key
Integer nonlinear key type.
bool equals(const Rot3 &p, double tol=1e-9) const
3D Pose manifold SO(3) x R^3 and group SE(3)
gtsam
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autogenerated on Sun Dec 22 2024 04:16:11