% GPSMeasurementEdge that takes in GPS measurement
classdef GPSMeasurementEdge < g2o.core.BaseUnaryEdge
methods(Access = public)
function this = GPSMeasurementEdge()
this = this@g2o.core.BaseUnaryEdge(2);
end
function computeError(this)
x = this.edgeVertices{1}.estimate();
this.errorZ = x(1:2) - this.z;
end
function linearizeOplus(this)
this.J{1} = ...
[1 0 0;
0 1 0];
end
end
end