File: simpleGraph10gradIter.txt

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VERTEX_SE3:QUAT 0 0.000000 0.000000 0.000000 0.0008187 0.0011723 0.0895466 0.9959816
VERTEX_SE3:QUAT 1 0.000000 -0.000000 0.000000 0.0010673 0.0015636 0.1606931 0.9870026
VERTEX_SE3:QUAT 2 -0.388822 0.632954 0.001223 0.0029920 0.0014066 0.0258235 0.9996610
VERTEX_SE3:QUAT 3 -1.143204 0.050638 0.006026 -0.0012800 -0.0002767 -0.2850291 0.9585180
VERTEX_SE3:QUAT 4 -0.512416 0.486441 0.005171 0.0002681 0.0023574 0.0171476 0.9998502
EDGE_SE3:QUAT 1 2   1.000000 2.000000 0.000000   0.0000000 0.0000000 0.7071068 0.7071068   100.000000 0.000000 0.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000   100.000000 0.000000   100.000000
EDGE_SE3:QUAT 2 3   -0.000000 1.000000 0.000000   0.0000000 0.0000000 0.7071068 0.7071068   100.000000 0.000000 0.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000   100.000000 0.000000   100.000000
EDGE_SE3:QUAT 3 4   1.000000 1.000000 0.000000   0.0000000 0.0000000 0.7071068 0.7071068   100.000000 0.000000 0.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000   100.000000 0.000000   100.000000
EDGE_SE3:QUAT 3 1   0.000001 2.000000 0.000000   0.0000000 0.0000000 1.0000000 0.0000002   100.000000 0.000000 0.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000   100.000000 0.000000   100.000000
EDGE_SE3:QUAT 1 4   -1.000000 1.000000 0.000000   0.0000000 0.0000000 -0.7071068 0.7071068   100.000000 0.000000 0.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000   100.000000 0.000000   100.000000
EDGE_SE3:QUAT 0 1   0.000000 0.000000 0.000000   0.0000000 0.0000000 0.0000000 1.0000000   100.000000 0.000000 0.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000 0.000000   100.000000 0.000000 0.000000   100.000000 0.000000   100.000000