classdef InitialPriorEdge < g2o.core.BaseUnaryEdge % This edge stores the initial conditions methods(Access = public) function this = InitialPriorEdge() this = this@g2o.core.BaseUnaryEdge(3); end function computeError(this) this.errorZ = this.edgeVertices{1}.x - this.z; this.errorZ(3) = g2o.stuff.normalize_theta(this.errorZ(3)); end function linearizeOplus(this) this.J{1} = eye(3); end end end