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Updated gtsam_unstable for the new nonlinear optimizer

release/4.3a0
Stephen Williams 2012-05-15 18:13:37 +00:00
parent 1f66e87046
commit f3ed18dfdc
1 changed files with 2 additions and 3 deletions
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5
gtsam_unstable/dynamics/imuSystem.cpp
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@ -5,8 +5,7 @@
*/
#include <gtsam_unstable/dynamics/imuSystem.h>
#include <gtsam/nonlinear/NonlinearOptimization.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
namespace imu {
@ -56,7 +55,7 @@ void Graph::addRange(Key key1, Key key2, double z, const SharedNoiseModel& noise
/* ************************************************************************* */
Values Graph::optimize(const Values& init) const {
return gtsam::optimize<Graph>(*this, init);
return LevenbergMarquardtOptimizer(*this, init).optimize();
}
/* ************************************************************************* */