图优化工具，Ｇ2o

InthisdocumentwedescribeaC++frameworkforperformingtheoptimizationofnonlinearleastsquaresproblemsthatcanbeembeddedasagraphorinahyper-graph.Ahyper-graphisanextensionofagraphwhereanedgecanconnectmultiplenodesandnotonlytwo.Severalproblemsinroboticsandincomputervisionrequiretofind