MarineRoboticsGroup / cora

This is the official repository for the paper "Certifiably Correct Range-Aided SLAM"
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All necessary interfaces with optimization library #13

Closed alanpapalia closed 7 months ago

alanpapalia commented 7 months ago

Now have a solveCora function that properly calls the optimizer. All interfaces seem to be working and all helper functions (e.g., compute Riemannian gradient, hess-vec products, etc.) are implemented and tested on small examples.

Tests were run by comparing output to manopt output.