- between_factor(a, b, a_T_b, sqrt_info, epsilon=0)#
- prior_factor(value, prior, sqrt_info, epsilon=0)#
- generate_between_factors(types, output_dir)#
Generates between factors for each type in types into output_dir.
Generates factors specific to Poses which penalize individual components into output_dir.
This includes factors for only the position or rotation components of a Pose. This can’t be done by wrapping the other generated functions because we need jacobians with respect to the full pose.