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				|  | @ -1,14 +0,0 @@ | |||
| Factor graph: | ||||
| size: 5 | ||||
| factor 0: BetweenFactor(1,2) | ||||
|   measured(2, 0, 0) | ||||
|   noise model: diagonal sigmas [0.2; 0.2; 0.1]; | ||||
| factor 1: BetweenFactor(2,3) | ||||
|   measured(2, 0, 0) | ||||
|   noise model: diagonal sigmas [0.2; 0.2; 0.1]; | ||||
| factor 2: keys = { 1 } | ||||
|   noise model: diagonal sigmas [0.1; 0.1]; | ||||
| factor 3: keys = { 2 } | ||||
|   noise model: diagonal sigmas [0.1; 0.1]; | ||||
| factor 4: keys = { 3 } | ||||
|   noise model: diagonal sigmas [0.1; 0.1]; | ||||
|  | @ -1,8 +0,0 @@ | |||
| %% Plot result, including covariance ellipses | ||||
| figure(1);clf; plot(initial.xs(),initial.ys(),'g-*'); axis equal | ||||
| hold on; plot(result.xs(),result.ys(),'b-*') | ||||
| for i=1:result.size()-1 | ||||
|     pose_i = result.pose(i); | ||||
|     P{i}=marginals.marginalCovariance(i); | ||||
|     covarianceEllipse([pose_i.x;pose_i.y],P{i},'b') | ||||
| end | ||||
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