16 lines
576 B
C++
16 lines
576 B
C++
// Create an empty nonlinear factor graph
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NonlinearFactorGraph graph;
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// Add a Gaussian prior on pose x_1
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Pose2 priorMean(0.0, 0.0, 0.0);
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noiseModel::Diagonal::shared_ptr priorNoise =
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noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
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graph.addPrior(1, priorMean, priorNoise);
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// Add two odometry factors
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Pose2 odometry(2.0, 0.0, 0.0);
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noiseModel::Diagonal::shared_ptr odometryNoise =
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noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
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graph.add(BetweenFactor<Pose2>(1, 2, odometry, odometryNoise));
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graph.add(BetweenFactor<Pose2>(2, 3, odometry, odometryNoise));
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