use sparse
parent
032c8887d6
commit
2bba5824fa
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@ -20,7 +20,7 @@ plot(map(1,:), map(2,:),'g.'); hold on;
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axis([0 mappingArea(1) 0 mappingArea(2)]);axis square;
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axis([0 mappingArea(1) 0 mappingArea(2)]);axis square;
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% Check visibility and plot this on the problem figure
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% Check visibility and plot this on the problem figure
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visibility = create_visibility(map, trajectory,10);
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visibility = create_visibility(map, trajectory,20);
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gplot(visibility,[map trajectory]');
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gplot(visibility,[map trajectory]');
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% simulate the measurements
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% simulate the measurements
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@ -39,7 +39,8 @@ ord = create_ordering(n,m);
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% show the matrix
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% show the matrix
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figure(2); clf;
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figure(2); clf;
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A = factorGraph.matrix(ord);
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ijs = factorGraph.sparse(ord);
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A=sparse(ijs(1,:),ijs(2,:),ijs(3,:));
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spy(A);
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spy(A);
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% optimizing a BayesNet is not possible from MATLAB as
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% optimizing a BayesNet is not possible from MATLAB as
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