41 lines
732 B
Matlab
41 lines
732 B
Matlab
% create a linear factor graph
|
|
% The non-linear graph above evaluated at NoisyConfig
|
|
function fg = createLinearFactorGraph()
|
|
|
|
c = createNoisyConfig();
|
|
|
|
% Create
|
|
fg = LinearFactorGraph;
|
|
|
|
% prior on x1
|
|
A11=[10 0; 0 10];
|
|
b = - c.get('x1')/0.1;
|
|
|
|
f1 = LinearFactor('x1', A11, b);
|
|
fg.push_back(f1);
|
|
|
|
% odometry between x1 and x2
|
|
A21=[-10 0; 0 -10];
|
|
A22=[ 10 0; 0 10];
|
|
b = [2;-1];
|
|
|
|
f2 = LinearFactor('x1', A21, 'x2', A22, b);
|
|
fg.push_back(f2);
|
|
|
|
% measurement between x1 and l1
|
|
A31=[-5 0; 0 -5];
|
|
A32=[ 5 0; 0 5];
|
|
b = [0;1];
|
|
|
|
f3 = LinearFactor('x1', A31, 'l1', A32, b);
|
|
fg.push_back(f3);
|
|
|
|
% measurement between x2 and l1
|
|
A41=[-5 0; 0 -5];
|
|
A42=[ 5 0; 0 5];
|
|
b = [-1;1.5];
|
|
|
|
f4 = LinearFactor('x2', A41, 'l1', A42, b);
|
|
fg.push_back(f4);
|
|
|
|
end |