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New optimisation method now handles everything old method did. There is a bug...
New optimisation method now handles everything old method did. There is a bug with partial constraints though
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- crosbot_graphslam/include/crosbot_graphslam/graphSlamCPU.hpp 1 addition, 0 deletionscrosbot_graphslam/include/crosbot_graphslam/graphSlamCPU.hpp
- crosbot_graphslam/launch/crosbot_graphslam.launch 1 addition, 1 deletioncrosbot_graphslam/launch/crosbot_graphslam.launch
- crosbot_graphslam/src/graphSlamCPU.cpp 171 additions, 59 deletionscrosbot_graphslam/src/graphSlamCPU.cpp
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