45typedef std::map<Key, double> key2doubleMap;
51GTSAM_EXPORT key2doubleMap computeThetasToRoot(
52 const key2doubleMap& deltaThetaMap,
const PredecessorMap<Key>& tree);
62GTSAM_EXPORT
void getSymbolicGraph(
63std::vector<size_t>& spanningTreeIds, std::vector<size_t>& chordsIds,
64 key2doubleMap& deltaThetaMap,
65 const PredecessorMap<Key>& tree,
const NonlinearFactorGraph& g);
68GTSAM_EXPORT GaussianFactorGraph buildLinearOrientationGraph(
69 const std::vector<size_t>& spanningTreeIds,
70 const std::vector<size_t>& chordsIds,
const NonlinearFactorGraph& g,
71 const key2doubleMap& orientationsToRoot,
const PredecessorMap<Key>& tree);
75 const NonlinearFactorGraph& graph,
bool useOdometricPath =
true);
78GTSAM_EXPORT
Values initialize(
const NonlinearFactorGraph& graph,
79 bool useOdometricPath =
true);
82GTSAM_EXPORT
Values initialize(
const NonlinearFactorGraph& graph,
83 const Values& initialGuess);
Graph algorithm using boost library.
Linear Factor Graph where all factors are Gaussians.
Factor Graph consisting of non-linear factors.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
The Factor::error simply extracts the.
In nonlinear factors, the error function returns the negative log-likelihood as a non-linear function...