30 lines
676 B
Matlab
30 lines
676 B
Matlab
% create a linear factor graph
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% The non-linear graph above evaluated at NoisyConfig
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function fg = createGaussianFactorGraph()
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c = createNoisyConfig();
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% Create
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fg = GaussianFactorGraph;
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% Create shared Noise model
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unit2 = SharedDiagonal([1;1]);
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% prior on x1
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I=eye(2);
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f1 = GaussianFactor('x1', 10*I, [-1;-1], unit2);
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fg.push_back(f1);
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% odometry between x1 and x2
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f2 = GaussianFactor('x1', -10*I, 'x2', 10*I, [2;-1], unit2);
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fg.push_back(f2);
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% measurement between x1 and l1
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f3 = GaussianFactor('x1', -5*I, 'l1', 5*I, [0;1], unit2);
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fg.push_back(f3);
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% measurement between x2 and l1
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f4 = GaussianFactor('x2', -5*I, 'l1', 5*I, [-1;1.5], unit2);
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fg.push_back(f4);
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end |