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Add negLogConstants

release/4.3a0
Frank Dellaert 2025-01-30 00:23:17 -05:00
parent e7a68fa6f2
commit 2af9d2d35a
1 changed files with 6 additions and 3 deletions
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9
examples/Hybrid_City10000.cpp
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@ -45,6 +45,8 @@ using symbol_shorthand::X;
const size_t kMaxLoopCount = 2000; // Example default value const size_t kMaxLoopCount = 2000; // Example default value
auto kOpenLoopModel = noiseModel::Diagonal::Sigmas(Vector3::Ones() * 10);
auto kPriorNoiseModel = noiseModel::Diagonal::Sigmas( auto kPriorNoiseModel = noiseModel::Diagonal::Sigmas(
(Vector(3) << 0.0001, 0.0001, 0.0001).finished()); (Vector(3) << 0.0001, 0.0001, 0.0001).finished());
@ -91,12 +93,13 @@ class Experiment {
DiscreteKey l(L(loopCounter), 2); DiscreteKey l(L(loopCounter), 2);
auto f0 = std::make_shared<BetweenFactor<Pose2>>( auto f0 = std::make_shared<BetweenFactor<Pose2>>(
X(keyS), X(keyT), measurement, X(keyS), X(keyT), measurement, kOpenLoopModel);
noiseModel::Diagonal::Sigmas(Vector3::Ones() * 10));
auto f1 = std::make_shared<BetweenFactor<Pose2>>( auto f1 = std::make_shared<BetweenFactor<Pose2>>(
X(keyS), X(keyT), measurement, kPoseNoiseModel); X(keyS), X(keyT), measurement, kPoseNoiseModel);
std::vector<NonlinearFactorValuePair> factors{{f0, 0.0}, {f1, 0.0}}; std::vector<NonlinearFactorValuePair> factors{
{f0, kOpenLoopModel->negLogConstant()},
{f1, kPoseNoiseModel->negLogConstant()}};
HybridNonlinearFactor mixtureFactor(l, factors); HybridNonlinearFactor mixtureFactor(l, factors);
return mixtureFactor; return mixtureFactor;
} }