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Factor graph: add noise handling #149

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leokoppel opened this issue Jun 15, 2017 · 0 comments
Open

Factor graph: add noise handling #149

leokoppel opened this issue Jun 15, 2017 · 0 comments
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@leokoppel
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Add noise / uncertainty property to factors.

Allow

  • covariance matrix
  • diagonal covariance
  • "ideal" measurements (zero noise - probably has to be a special case)

Use this property by manipulating the values given to the solver. User-provided evaluate functions should not need to handle noise.
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