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small change to covariance stuff

release/4.3a0
Chris Beall 2010-10-22 23:15:27 +00:00
parent c13d909343
commit a411cf9683
3 changed files with 8 additions and 7 deletions
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2
examples/PlanarSLAMSelfContained_advanced.cpp
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@ -122,7 +122,7 @@ int main(int argc, char** argv) {
initial.print("initial estimate"); initial.print("initial estimate");
// optimize using Levenburg-Marquadt optimization with an ordering from colamd // optimize using Levenberg-Marquardt optimization with an ordering from colamd
// first using sequential elimination // first using sequential elimination
OptimizerSeqential::shared_values resultSequential = OptimizerSeqential::optimizeLM(graph, initial); OptimizerSeqential::shared_values resultSequential = OptimizerSeqential::optimizeLM(graph, initial);

9
examples/Pose2SLAMExample_advanced.cpp
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@ -76,11 +76,12 @@ int main(int argc, char** argv) {
Values result = *optimizer_result.values(); Values result = *optimizer_result.values();
result.print("final result"); result.print("final result");
Vector mean; Matrix covariance; /* Get covariances */
boost::tie( mean, covariance) = optimizer_result.marginalStandard(x1); Matrix covariance1 = optimizer_result.marginalStandard(x1);
Matrix covariance2 = optimizer_result.marginalStandard(x2);
print(mean, "Mean"); print(covariance1, "Covariance1");
print(covariance, "Covariance"); print(covariance2, "Covariance2");
return 0; return 0;
} }

4
nonlinear/NonlinearOptimizer.h
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@ -161,8 +161,8 @@ namespace gtsam {
/** /**
* Return mean and covariance on a single variable * Return mean and covariance on a single variable
*/ */
std::pair<Vector, Matrix> marginalStandard(Symbol j) const { Matrix marginalStandard(Symbol j) const {
return solver_->marginalStandard((*ordering_)[j]); return solver_->marginalStandard((*ordering_)[j]).second;
} }
/** /**