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feat(backend): add robust optimisation parameter to MROB backend #16

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merged 2 commits into from
Nov 4, 2023
Merged

feat(backend): add robust optimisation parameter to MROB backend #16

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30d89a3
feat(backend): add robust optimisation parameter to MROB backend
pmokeev Nov 4, 2023
0dded4b
fix(ci): fix flake8 issues
pmokeev Nov 4, 2023
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11 changes: 8 additions & 3 deletions slam/backend/mrob_backend.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,11 +19,16 @@ class MROBBackend(Backend):
poses_number: int
Number of poses in provided map
iterations_number: int
Number of iterations that will be produced by MROB-EF backend.
Number of iterations that will be produced by chosen MROB backend.
"""

def __init__(self, poses_number: int, iterations_number: int) -> None:
self._graph: mrob.FGraph = mrob.FGraph()
def __init__(
self,
poses_number: int,
iterations_number: int,
robust_type: int = mrob.QUADRATIC,
) -> None:
self._graph: mrob.FGraph = mrob.FGraph(robust_type)
self._poses_number: int = poses_number
self._iterations_number: int = iterations_number
self._planes: Dict[int, int] = {}
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