10 lines
317 B
C++
10 lines
317 B
C++
// create (deliberatly inaccurate) initial estimate
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Values initial;
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initial.insert(1, Pose2(0.5, 0.0, 0.2));
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initial.insert(2, Pose2(2.3, 0.1, -0.2));
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initial.insert(3, Pose2(4.1, 0.1, 0.1));
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// optimize using Levenberg-Marquardt optimization
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Values result = LevenbergMarquardtOptimizer(graph, initial).optimize();
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