utilities.h File Reference

#include <localization_common/logger.h>
#include <localization_common/time.h>
#include <gtsam/inference/Key.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>

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Namespaces
	node_adders

Functions
template<typename FactorType >
bool	node_adders::RemoveFactor (const gtsam::KeyVector &keys, gtsam::NonlinearFactorGraph &factors)
template<typename FactorType , typename NodesType >
bool	node_adders::RemoveRelativeFactor (const localization_common::Time timestamp_a, const localization_common::Time timestamp_b, const NodesType &nodes, gtsam::NonlinearFactorGraph &factors)
gtsam::Matrix	node_adders::Covariance (const gtsam::SharedNoiseModel &robust_gaussian_noise)