Closed keenan-burnett closed 2 months ago
Added an option to perform a line search using the vanilla Gauss-Newton solver. This seems to help speed up convergence. Also added evaluators for a single point-to-plane factor and a DMI factor for working with wheel encoder measurements.
Added an option to perform a line search using the vanilla Gauss-Newton solver. This seems to help speed up convergence. Also added evaluators for a single point-to-plane factor and a DMI factor for working with wheel encoder measurements.