gtsam/matlab/create_good_ordering.m

17 lines
360 B
Matlab

% Christian Potthast
% create an elimination ordering
function ord = create_good_ordering(n,m,measurements)
ord = Ordering();
j=1;
pose=1;
mes=size(measurements,2);
while (pose<=m)&&(j<=mes)
ord.push_back(sprintf('x%d',pose));
while (j<n)&&(measurements{j}.i==pose)
ord.push_back(sprintf('m%d',j));
j=j+1;
end
pose=pose+1;
end