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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
a4ffdc28
Commit
a4ffdc28
authored
1 year ago
by
Joan Vallvé Navarro
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hotfix
parent
279c44e2
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1 merge request
!448
Draft: Resolve "Implementation of new nodes creation"
Pipeline
#18847
failed
1 year ago
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demos/hello_wolf/hello_wolf_autoconf.cpp
+3
-3
3 additions, 3 deletions
demos/hello_wolf/hello_wolf_autoconf.cpp
with
3 additions
and
3 deletions
demos/hello_wolf/hello_wolf_autoconf.cpp
+
3
−
3
View file @
a4ffdc28
...
@@ -224,7 +224,7 @@ int main()
...
@@ -224,7 +224,7 @@ int main()
// SOLVE with exact initial guess
// SOLVE with exact initial guess
WOLF_INFO
(
"======== SOLVE PROBLEM WITH EXACT PRIORS ======="
)
WOLF_INFO
(
"======== SOLVE PROBLEM WITH EXACT PRIORS ======="
)
std
::
string
report
=
ceres
->
solve
(
ReportVerbosity
::
FULL
);
std
::
string
report
=
ceres
->
solve
(
SolverManager
::
ReportVerbosity
::
FULL
);
WOLF_INFO
(
report
);
// should show a very low iteration number (possibly 1)
WOLF_INFO
(
report
);
// should show a very low iteration number (possibly 1)
problem
->
print
(
1
,
0
,
1
,
0
);
problem
->
print
(
1
,
0
,
1
,
0
);
...
@@ -235,13 +235,13 @@ int main()
...
@@ -235,13 +235,13 @@ int main()
// SOLVE again
// SOLVE again
WOLF_INFO
(
"======== SOLVE PROBLEM WITH PERTURBED PRIORS ======="
)
WOLF_INFO
(
"======== SOLVE PROBLEM WITH PERTURBED PRIORS ======="
)
report
=
ceres
->
solve
(
ReportVerbosity
::
FULL
);
report
=
ceres
->
solve
(
SolverManager
::
ReportVerbosity
::
FULL
);
WOLF_INFO
(
report
);
// should show a very high iteration number (more than 10, or than 100!)
WOLF_INFO
(
report
);
// should show a very high iteration number (more than 10, or than 100!)
problem
->
print
(
1
,
0
,
1
,
0
);
problem
->
print
(
1
,
0
,
1
,
0
);
// GET COVARIANCES of all states
// GET COVARIANCES of all states
WOLF_INFO
(
"======== COVARIANCES OF SOLVED PROBLEM ======="
)
WOLF_INFO
(
"======== COVARIANCES OF SOLVED PROBLEM ======="
)
ceres
->
computeCovariances
(
CovarianceBlocksToBeComputed
::
ALL_MARGINALS
);
ceres
->
computeCovariances
(
SolverManager
::
CovarianceBlocksToBeComputed
::
ALL_MARGINALS
);
for
(
auto
&
kf_pair
:
problem
->
getTrajectory
()
->
getFrameMap
())
for
(
auto
&
kf_pair
:
problem
->
getTrajectory
()
->
getFrameMap
())
{
{
Eigen
::
MatrixXd
cov
;
Eigen
::
MatrixXd
cov
;
...
...
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