Fixed up examples
parent
732409faf3
commit
4afb11a2ed
162
.cproject
162
.cproject
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@ -568,6 +568,7 @@
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</target>
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<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -575,6 +576,7 @@
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</target>
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<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBinaryBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -622,6 +624,7 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -629,6 +632,7 @@
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</target>
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<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testSymbolicFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -636,6 +640,7 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -651,6 +656,7 @@
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</target>
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<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -728,46 +734,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testValues.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testOrdering.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testKey.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testLinearContainerFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testLinearContainerFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testWhiteNoiseFactor.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j6 -j8</buildArguments>
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<buildTarget>testWhiteNoiseFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1114,6 +1080,7 @@
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</target>
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<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testErrors.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1159,6 +1126,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testParticleFactor.run" path="build/gtsam_unstable/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testParticleFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1239,14 +1214,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testParticleFactor.run" path="build/gtsam_unstable/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testParticleFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1351,6 +1318,22 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testImuFactor.run" path="build/gtsam/navigation" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testImuFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testCombinedImuFactor.run" path="build/gtsam/navigation" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testCombinedImuFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1433,7 +1416,6 @@
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</target>
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2DOriented.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1473,7 +1455,6 @@
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</target>
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<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1481,7 +1462,6 @@
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</target>
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<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated3D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1495,22 +1475,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testImuFactor.run" path="build/gtsam/navigation" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testImuFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testCombinedImuFactor.run" path="build/gtsam/navigation" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testCombinedImuFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testEliminationTree.run" path="build/gtsam/inference/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -1768,6 +1732,7 @@
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</target>
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<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G DEB</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1775,6 +1740,7 @@
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</target>
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<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G RPM</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1782,6 +1748,7 @@
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</target>
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<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G TGZ</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1789,6 +1756,7 @@
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</target>
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<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2547,6 +2515,7 @@
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</target>
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<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2554,6 +2523,7 @@
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</target>
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<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testJunctionTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2561,6 +2531,7 @@
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</target>
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<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNetB.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2830,6 +2801,62 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="Pose2SLAMExample_lago.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>Pose2SLAMExample_lago.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="Pose2SLAMExample_g2o.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>Pose2SLAMExample_g2o.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testLago.run" path="build/gtsam/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testLago.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testLinearContainerFactor.run" path="build/gtsam/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testLinearContainerFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testOrdering.run" path="build/gtsam/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testOrdering.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testValues.run" path="build/gtsam/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testValues.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testWhiteNoiseFactor.run" path="build/gtsam/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testWhiteNoiseFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testImuFactor.run" path="build-debug/gtsam_unstable/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j4</buildArguments>
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@ -2848,7 +2875,6 @@
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</target>
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<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testGaussianISAM2</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -18,27 +18,22 @@
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* @author Luca Carlone
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*/
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/inference/Key.h>
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#include <gtsam/slam/PriorFactor.h>
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#include <gtsam/slam/dataset.h>
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#include <gtsam/slam/BetweenFactor.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/slam/PriorFactor.h>
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#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
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#include <gtsam/nonlinear/Marginals.h>
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#include <gtsam/nonlinear/Values.h>
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#include <fstream>
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#include <sstream>
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using namespace std;
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using namespace gtsam;
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int main(const int argc, const char *argv[]) {
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int main(const int argc, const char *argv[]){
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// Read graph from file
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string g2oFile;
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if (argc < 2)
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std::cout << "Please specify: 1st argument: input file (in g2o format) and 2nd argument: output file" << std::endl;
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const string g2oFile = argv[1];
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g2oFile = "../../examples/Data/noisyToyGraph.txt";
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else
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g2oFile = argv[1];
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NonlinearFactorGraph graph;
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Values initial;
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@ -46,7 +41,8 @@ int main(const int argc, const char *argv[]){
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// Add prior on the pose having index (key) = 0
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NonlinearFactorGraph graphWithPrior = graph;
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noiseModel::Diagonal::shared_ptr priorModel = noiseModel::Diagonal::Variances((Vector(3) << 1e-6, 1e-6, 1e-8));
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noiseModel::Diagonal::shared_ptr priorModel = //
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noiseModel::Diagonal::Variances((Vector(3) << 1e-6, 1e-6, 1e-8));
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graphWithPrior.add(PriorFactor<Pose2>(0, Pose2(), priorModel));
|
||||
|
||||
std::cout << "Optimizing the factor graph" << std::endl;
|
||||
|
@ -54,10 +50,13 @@ int main(const int argc, const char *argv[]){
|
|||
Values result = optimizer.optimize();
|
||||
std::cout << "Optimization complete" << std::endl;
|
||||
|
||||
const string outputFile = argv[2];
|
||||
std::cout << "Writing results to file: " << outputFile << std::endl;
|
||||
writeG2o(outputFile, graph, result);
|
||||
std::cout << "done! " << std::endl;
|
||||
|
||||
if (argc < 3) {
|
||||
result.print("result");
|
||||
} else {
|
||||
const string outputFile = argv[2];
|
||||
std::cout << "Writing results to file: " << outputFile << std::endl;
|
||||
writeG2o(outputFile, graph, result);
|
||||
std::cout << "done! " << std::endl;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
|
|
@ -12,33 +12,29 @@
|
|||
/**
|
||||
* @file Pose2SLAMExample_lago.cpp
|
||||
* @brief A 2D Pose SLAM example that reads input from g2o, and solve the Pose2 problem
|
||||
* using LAGO (Linear Approximation for Graph Optimization). See class LagoInitializer.h
|
||||
* using LAGO (Linear Approximation for Graph Optimization). See class lago.h
|
||||
* Output is written on a file, in g2o format
|
||||
* Syntax for the script is ./Pose2SLAMExample_lago input.g2o output.g2o
|
||||
* @date May 15, 2014
|
||||
* @author Luca Carlone
|
||||
*/
|
||||
|
||||
#include <gtsam/geometry/Pose2.h>
|
||||
#include <gtsam/inference/Key.h>
|
||||
#include <gtsam/slam/PriorFactor.h>
|
||||
#include <gtsam/nonlinear/lago.h>
|
||||
#include <gtsam/slam/dataset.h>
|
||||
#include <gtsam/nonlinear/LagoInitializer.h>
|
||||
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
||||
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
|
||||
#include <gtsam/nonlinear/Values.h>
|
||||
#include <gtsam/slam/PriorFactor.h>
|
||||
#include <fstream>
|
||||
#include <sstream>
|
||||
|
||||
using namespace std;
|
||||
using namespace gtsam;
|
||||
|
||||
int main(const int argc, const char *argv[]) {
|
||||
|
||||
int main(const int argc, const char *argv[]){
|
||||
|
||||
// Read graph from file
|
||||
string g2oFile;
|
||||
if (argc < 2)
|
||||
std::cout << "Please specify: 1st argument: input file (in g2o format) and 2nd argument: output file" << std::endl;
|
||||
const string g2oFile = argv[1];
|
||||
g2oFile = "../../examples/Data/noisyToyGraph.txt";
|
||||
else
|
||||
g2oFile = argv[1];
|
||||
|
||||
NonlinearFactorGraph graph;
|
||||
Values initial;
|
||||
|
@ -46,17 +42,23 @@ int main(const int argc, const char *argv[]){
|
|||
|
||||
// Add prior on the pose having index (key) = 0
|
||||
NonlinearFactorGraph graphWithPrior = graph;
|
||||
noiseModel::Diagonal::shared_ptr priorModel = noiseModel::Diagonal::Variances((Vector(3) << 1e-6, 1e-6, 1e-8));
|
||||
noiseModel::Diagonal::shared_ptr priorModel = //
|
||||
noiseModel::Diagonal::Variances((Vector(3) << 1e-6, 1e-6, 1e-8));
|
||||
graphWithPrior.add(PriorFactor<Pose2>(0, Pose2(), priorModel));
|
||||
graphWithPrior.print();
|
||||
|
||||
std::cout << "Computing LAGO estimate" << std::endl;
|
||||
Values estimateLago = initializeLago(graphWithPrior);
|
||||
std::cout << "done!" << std::endl;
|
||||
|
||||
const string outputFile = argv[2];
|
||||
std::cout << "Writing results to file: " << outputFile << std::endl;
|
||||
writeG2o(outputFile, graph, estimateLago);
|
||||
std::cout << "done! " << std::endl;
|
||||
if (argc < 3) {
|
||||
estimateLago.print("estimateLago");
|
||||
} else {
|
||||
const string outputFile = argv[2];
|
||||
std::cout << "Writing results to file: " << outputFile << std::endl;
|
||||
writeG2o(outputFile, graph, estimateLago);
|
||||
std::cout << "done! " << std::endl;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
Loading…
Reference in New Issue