2016-06-11 08:48:42 +08:00
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// add unary measurement factors, like GPS, on all three poses
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2019-02-11 22:39:48 +08:00
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noiseModel::Diagonal::shared_ptr unaryNoise =
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2016-06-16 03:00:24 +08:00
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noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.1)); // 10cm std on x,y
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2016-06-11 08:48:42 +08:00
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graph.add(boost::make_shared<UnaryFactor>(1, 0.0, 0.0, unaryNoise));
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graph.add(boost::make_shared<UnaryFactor>(2, 2.0, 0.0, unaryNoise));
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graph.add(boost::make_shared<UnaryFactor>(3, 4.0, 0.0, unaryNoise));
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