OdometryOptimize.cpp
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1 // create (deliberatly inaccurate) initial estimate
3 initial.insert(1, Pose2(0.5, 0.0, 0.2));
4 initial.insert(2, Pose2(2.3, 0.1, -0.2));
5 initial.insert(3, Pose2(4.1, 0.1, 0.1));
6 
7 // optimize using Levenberg-Marquardt optimization
8 Values result = LevenbergMarquardtOptimizer(graph, initial).optimize();
9 
Values initial
NonlinearFactorGraph graph
Values result
std::vector< float > Values


gtsam
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autogenerated on Sat May 8 2021 02:43:05