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use sparse

release/4.3a0
Frank Dellaert 2010-02-23 14:53:30 +00:00
parent 032c8887d6
commit 2bba5824fa
1 changed files with 3 additions and 2 deletions
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5
matlab/example/christian01.m
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@ -20,7 +20,7 @@ plot(map(1,:), map(2,:),'g.'); hold on;
axis([0 mappingArea(1) 0 mappingArea(2)]);axis square;
% Check visibility and plot this on the problem figure
visibility = create_visibility(map, trajectory,10);
visibility = create_visibility(map, trajectory,20);
gplot(visibility,[map trajectory]');
% simulate the measurements
@ -39,7 +39,8 @@ ord = create_ordering(n,m);
% show the matrix
figure(2); clf;
A = factorGraph.matrix(ord);
ijs = factorGraph.sparse(ord);
A=sparse(ijs(1,:),ijs(2,:),ijs(3,:));
spy(A);
% optimizing a BayesNet is not possible from MATLAB as