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This example stopped working: now fixed

release/4.3a0
dellaert 2014-05-25 17:46:47 -04:00
parent 852e1e1f2f
commit c2e748b362
1 changed files with 4 additions and 4 deletions
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8
matlab/gtsam_examples/Pose2SLAMExample_advanced.m
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@ -59,16 +59,16 @@ params.setAbsoluteErrorTol(1e-15);
params.setRelativeErrorTol(1e-15); params.setRelativeErrorTol(1e-15);
params.setVerbosity('ERROR'); params.setVerbosity('ERROR');
params.setVerbosityDL('VERBOSE'); params.setVerbosityDL('VERBOSE');
params.setOrdering(graph.orderingCOLAMD(initialEstimate)); params.setOrdering(graph.orderingCOLAMD());
optimizer = DoglegOptimizer(graph, initialEstimate, params); optimizer = DoglegOptimizer(graph, initialEstimate, params);
result = optimizer.optimizeSafely(); result = optimizer.optimizeSafely();
result.print('final result'); result.print('final result');
%% Get the corresponding dense matrix %% Get the corresponding dense matrix
ord = graph.orderingCOLAMD(result); ord = graph.orderingCOLAMD();
gfg = graph.linearize(result,ord); gfg = graph.linearize(result);
denseAb = gfg.denseJacobian; denseAb = gfg.augmentedJacobian;
%% Get sparse matrix A and RHS b %% Get sparse matrix A and RHS b
IJS = gfg.sparseJacobian_(); IJS = gfg.sparseJacobian_();