Function fuse_constraints::detail::createMarginalConstraint

Defined in File marginalize_variables.hpp

Function Documentation

MarginalConstraint::SharedPtr fuse_constraints::detail::createMarginalConstraint(const std::string &source, const LinearTerm &linear_term, const fuse_core::Graph &graph, const UuidOrdering &elimination_order)

Convert the provided linear term into a MarginalConstraint.

Parameters:

source – [in] The name of the sensor or motion model that generated this constraint
linear_term – [in] The LinearTerm object to convert
graph – [in] The graph object containing the current variable values
elimination_order – [in] The mapping from variable UUID to LinearTerm variable index

Returns:

An equivalent MarginalConstraint object