Variables
Matrix	A11 = I_2x2

Matrix	A21 = -2 * I_2x2

Matrix	A22 = 3 * I_2x2

Matrix	A32 = -4 * I_2x2

Matrix	A33 = 5 * I_2x2

Vector2	b1 (2,-1)

Vector2	b2 (4,-5)

Vector2	b3 (3,-6)

JacobianFactor	factor1 (keyX, A11, b1, noiseModel::Isotropic::Sigma(2, sigma1))

JacobianFactor	factor2 (keyX, A21, keyY, A22, b2, noiseModel::Isotropic::Sigma(2, sigma2))

JacobianFactor	factor3 (keyY, A32, keyZ, A33, b3, noiseModel::Isotropic::Sigma(2, sigma3))

GaussianFactorGraph	factors (list_of(factor1)(factor2)(factor3))

Ordering	ordering (list_of(keyX)(keyY)(keyZ))

double	sigma1 = 0.1

double	sigma2 = 0.5

double	sigma3 = 1.0

Function Documentation

Key simple_graph::keyX ( 10 )

Key simple_graph::keyY ( 8 )

Key simple_graph::keyZ ( 12 )

Variable Documentation

Matrix simple_graph::A11 = I_2x2

Definition at line 192 of file testJacobianFactor.cpp.

Matrix simple_graph::A21 = -2 * I_2x2

Definition at line 197 of file testJacobianFactor.cpp.

Matrix simple_graph::A22 = 3 * I_2x2

Definition at line 198 of file testJacobianFactor.cpp.

Matrix simple_graph::A32 = -4 * I_2x2

Definition at line 203 of file testJacobianFactor.cpp.

Matrix simple_graph::A33 = 5 * I_2x2

Definition at line 204 of file testJacobianFactor.cpp.

Vector2 simple_graph::b1(2,-1)

Vector2 simple_graph::b2(4,-5)

Vector2 simple_graph::b3(3,-6)

JacobianFactor simple_graph::factor1(keyX, A11, b1, noiseModel::Isotropic::Sigma(2, sigma1))

JacobianFactor simple_graph::factor2(keyX, A21, keyY, A22, b2, noiseModel::Isotropic::Sigma(2, sigma2))

JacobianFactor simple_graph::factor3(keyY, A32, keyZ, A33, b3, noiseModel::Isotropic::Sigma(2, sigma3))

Ordering simple_graph::ordering(list_of(keyX)(keyY)(keyZ))

double simple_graph::sigma1 = 0.1

Definition at line 191 of file testJacobianFactor.cpp.

double simple_graph::sigma2 = 0.5

Definition at line 196 of file testJacobianFactor.cpp.

double simple_graph::sigma3 = 1.0

Definition at line 202 of file testJacobianFactor.cpp.