Main Page
Related Pages
Modules
Namespaces
Namespace List
Namespace Members
All
_
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
Functions
_
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
Variables
_
a
b
c
d
e
f
g
h
i
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
Typedefs
_
a
b
c
d
e
f
g
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
y
Enumerations
a
c
d
e
f
g
i
k
l
m
n
p
q
r
s
t
u
Enumerator
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
r
s
t
u
v
w
x
z
Classes
Class List
Class Hierarchy
Class Members
All
!
:
_
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
~
Functions
!
_
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
~
Variables
_
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
Typedefs
_
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
z
Enumerations
a
b
c
d
f
k
l
m
n
o
p
r
s
t
v
z
Enumerator
_
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
Related Functions
:
a
b
c
d
e
g
h
i
l
m
n
o
p
r
s
t
u
v
Files
File List
File Members
All
_
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
Functions
_
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
Variables
_
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
Typedefs
a
b
c
d
e
f
g
h
i
k
l
m
n
o
p
q
r
s
t
u
v
x
z
Enumerations
Enumerator
b
c
e
f
g
i
l
m
n
o
p
r
s
t
u
v
x
y
z
Macros
_
a
b
c
d
e
f
g
h
i
k
l
m
n
o
p
q
r
s
t
u
v
w
x
z
Examples
doc
Code
OdometryOptimize.cpp
Go to the documentation of this file.
1
// create (deliberatly inaccurate) initial estimate
2
Values
initial
;
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
initial
Values initial
Definition:
OdometryOptimize.cpp:2
Values
result
Values result
Definition:
OdometryOptimize.cpp:8
initial
Definition:
testScenarioRunner.cpp:148
graph
NonlinearFactorGraph graph
Definition:
doc/Code/OdometryExample.cpp:2
gtsam
Author(s):
autogenerated on Thu Apr 10 2025 03:02:20