Add negLogConstants
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e7a68fa6f2
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2af9d2d35a
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@ -45,6 +45,8 @@ using symbol_shorthand::X;
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const size_t kMaxLoopCount = 2000; // Example default value
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auto kOpenLoopModel = noiseModel::Diagonal::Sigmas(Vector3::Ones() * 10);
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auto kPriorNoiseModel = noiseModel::Diagonal::Sigmas(
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(Vector(3) << 0.0001, 0.0001, 0.0001).finished());
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@ -91,12 +93,13 @@ class Experiment {
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DiscreteKey l(L(loopCounter), 2);
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auto f0 = std::make_shared<BetweenFactor<Pose2>>(
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X(keyS), X(keyT), measurement,
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noiseModel::Diagonal::Sigmas(Vector3::Ones() * 10));
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X(keyS), X(keyT), measurement, kOpenLoopModel);
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auto f1 = std::make_shared<BetweenFactor<Pose2>>(
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X(keyS), X(keyT), measurement, kPoseNoiseModel);
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std::vector<NonlinearFactorValuePair> factors{{f0, 0.0}, {f1, 0.0}};
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std::vector<NonlinearFactorValuePair> factors{
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{f0, kOpenLoopModel->negLogConstant()},
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{f1, kPoseNoiseModel->negLogConstant()}};
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HybridNonlinearFactor mixtureFactor(l, factors);
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return mixtureFactor;
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}
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