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NASA Astrobee Robot Software
0.19.1
Flight software for the Astrobee robots operating inside the International Space Station.
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NASA Astrobee Robot Software
0.19.1
Flight software for the Astrobee robots operating inside the International Space Station.
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The optimizer package provides a base class optimizer that is used by the graph optimizer class. Optimizers perform optimization using GTSAM factors and values, for more information on these see the GTSAM package here: https://github.com/borglab/gtsam. Optimizers also provided covariance matrices for values given their keys. Two implementations are provided - the nonlinear optimizer and isam2 optimizer.
The nonlinear optimizer performs Levenberg-Marquardt nonlinear optimization.
The ISAM2 optimizer performs optimization using ISAM2. Note this is still in development and not yet tested.