13 using namespace gtsam;
25 vector<MFAS::KeyPair>
edges = {make_pair(3, 2), make_pair(0, 1), make_pair(3, 1),
26 make_pair(1, 2), make_pair(0, 2), make_pair(3, 0)};
30 vector<double>
weights1 = {2, 1.5, 0.5, 0.25, 1, 0.75};
32 vector<double>
weights2 = {0.5, 0.75, -0.25, 0.75, 1, 0.5};
37 const vector<double> &weights) {
38 map<MFAS::KeyPair, double> edgeWeights;
39 for (
size_t i = 0;
i <
edges.size();
i++) {
40 edgeWeights[
edges[
i]] = weights[
i];
53 KeyVector gt_ordered_nodes = {0, 1, 3, 2};
56 for (
size_t i = 0;
i < ordered_nodes.size();
i++) {
64 for (
auto &edge :
edges) {
65 if (edge == make_pair(
Key(3),
Key(0)) ||
66 edge == make_pair(
Key(0),
Key(3))) {
83 KeyVector gt_ordered_nodes = {3, 0, 1, 2};
86 for (
size_t i = 0;
i < ordered_nodes.size();
i++) {
94 for (
auto &edge :
edges) {