{
  "vertices": [
    {
      "id": 0,
      "type": "Vehicle2D",
      "content": [
        1.0,
        0.0,
        1.57
      ]
    },
    {
      "id": 1,
      "type": "Vehicle2D",
      "content": [
        0.0,
        1.0,
        3.14
      ]
    },
    {
      "id": 2,
      "type": "Landmark2D",
      "content": [
        1.5,
        2.0
      ]
    }
  ],
  "edges": [
    {
      "type": "Position2D",
      "vertices": [
        0
      ],
      "restriction": [
        0.90,
        0.40,
        1.58
      ],
      "informationMatrix": [
        10.0,
        0.0,
        0.0,
        0.0,
        10.0,
        0.0,
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "type": "Position2D",
      "vertices": [
        1
      ],
      "restriction": [
        0.00,
        1.00,
        3.13
      ],
      "informationMatrix": [
        10.0,
        0.0,
        0.0,
        0.0,
        10.0,
        0.0,
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "type": "Odometry2D",
      "vertices": [
        0,
        1
      ],
      "restriction": [
        1.0,
        1.5,
        1.57
      ],
      "informationMatrix": [
        1.0,
        0.0,
        0.0,
        0.0,
        1.0,
        0.0,
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "type": "Observation2D",
      "vertices": [
        0,
        2
      ],
      "restriction": [
        0.0,
        -1.0
      ],
      "informationMatrix": [
        1.0,
        0.0,
        0.0,
        1.0
      ]
    }
  ],
  "fixedVertices": [
    0
  ]
}