ey) <span class="keyword">final</span> {</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="comment">// Get robot state</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <a class="code" href="../../df/d69/classgraph__msf_1_1GmsfUnaryExpressionLandmark.html#ae71539133052202bc474a799c428fb59">exp_T_W_I_</a> = gtsam::Expression&lt;gtsam::Pose3&gt;(gtsam::symbol_shorthand::X(closestGeneralKey));  <span class="comment"