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bug fix in advanced example. Question: Currently, pose2SLAMOptimizer is in fact useless! Is it needed? Why don't we add more functionalities for it?

release/4.3a0
Duy-Nguyen Ta 2012-02-06 03:33:40 +00:00
parent 6f4c95a65b
commit 9f055fc812
1 changed files with 6 additions and 6 deletions
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12
examples/matlab/Pose2SLAMExample_advanced.m
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@ -55,19 +55,19 @@ initialEstimate.insertPose(x3, gtsamPose2(4.1, 0.1, 0.1));
initialEstimate.print('initial estimate');
%% set up solver, choose ordering and optimize
params = NonlinearOptimizationParameters_newDrecreaseThresholds(1e-15, 1e-15);
params = gtsamNonlinearOptimizationParameters_newDecreaseThresholds(1e-15, 1e-15);
ord = graph.orderingCOLAMD(initialEstimate);
result = pose2SLAMOptimizer(graph,initialEstimate,ord,params);
result.print('final result');
%result = pose2SLAMOptimizer(graph,initialEstimate,ord,params);
%result.print('final result');
% %
% % disp('\\\');
% %
% % %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd
% % result = graph.optimize(initialEstimate);
% % result.print('final result');
result = graph.optimize(initialEstimate);
result.print('final result');
%% Get the corresponding dense matrix
ord = graph.orderingCOLAMD(result);