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Constrain orientation

release/4.3a0
dellaert 2014-05-31 16:24:40 -04:00
parent 5aa9f42875
commit 7e6a333b1a
1 changed files with 1 additions and 1 deletions
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gtsam/nonlinear/lago.cpp
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@ -35,7 +35,7 @@ static const Matrix I3 = eye(3);
static const Key keyAnchor = symbol('Z', 9999999);
static const noiseModel::Diagonal::shared_ptr priorOrientationNoise =
noiseModel::Diagonal::Variances((Vector(1) << 1e-8));
noiseModel::Diagonal::Sigmas((Vector(1) << 0));
static const noiseModel::Diagonal::shared_ptr priorPose2Noise =
noiseModel::Diagonal::Variances((Vector(3) << 1e-6, 1e-6, 1e-8));