12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

added Matlab convenience function: optimize

release/4.3a0
Chris Beall 2012-01-28 03:01:54 +00:00
parent eee68475ea
commit 22c38eb41a
1 changed files with 7 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
gtsam/slam/pose2SLAM.h
View File

@ -94,6 +94,13 @@ namespace pose2SLAM {
/// Creates a between factor between keys i and j with a noise model with Pose2 z in the graph /// Creates a between factor between keys i and j with a noise model with Pose2 z in the graph
void addOdometry(const PoseKey& i, const PoseKey& j, const Pose2& z, void addOdometry(const PoseKey& i, const PoseKey& j, const Pose2& z,
const SharedNoiseModel& model); const SharedNoiseModel& model);
/// Optimize
Values optimize(const Values& initialEstimate) {
typedef NonlinearOptimizer<Graph, Values> Optimizer;
return *Optimizer::optimizeLM(*this, initialEstimate,
NonlinearOptimizationParameters::LAMBDA);
}
}; };
/// The sequential optimizer /// The sequential optimizer