     return pose3Graph
   }
   
+  /// Construct the orientation graph (unconstrained version of the between in Frobenius norm).
   public func buildLinearOrientationGraph(
     g: FactorGraph,
     v: VariableAssignments,

    anchorId = TypedID<Pose3, Int>(0)
  }
  
  public func buildPose3graph(graph: FactorGraph) -> FactorGraph {
    var pose3Graph = FactorGraph()


    return val
  }
  
  /// This function computes the chordal initialization. Normally this is what the user needs to call.
  public mutating func GetInitializations(graph: FactorGraph, val: VariableAssignments, ids: Array<TypedID<Pose3, Int>>) -> VariableAssignments {
    var val_copy = val
    anchorId = val_copy.store(Pose3())
