Fixing the EKF example and change linearization point initialization #848
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dellaert
reviewed
Aug 16, 2021
| protected: | ||
| T x_; // linearization point | ||
| JacobianFactor::shared_ptr priorFactor_; // Gaussian density on x_ | ||
| GaussianFactorGraph::shared_ptr lastLinearization; |
| linearizationPoint.insert(keys[1], x_); // TODO should this really be x_ ? | ||
| linearFactorGraph.push_back(motionFactor.linearize(linearizationPoint)); | ||
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| if (lastLinearization != nullptr) { |
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| // Create a Gaussian Factor Graph | ||
| GaussianFactorGraph linearFactorGraph; | ||
| GaussianFactorGraph::shared_ptr linearFactorGraph = boost::make_shared<GaussianFactorGraph>(); |
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Why did you change this to a pointer?
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@ProfFan address comments so we can merge |
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This PR tries to change the linearization point to a linear expolation of the current estimate using the previous linearization.
However I found this to be not as useful as it would be in the intended usage in GTSAM:
In making this change I also found out that the
easyPoint2KalmanFilterexample has a typo, which I also fixed.If we decide that this is unnecessary, I can keep only the typo fix.