gtsam

Author	SHA1	Message	Date
Richard Roberts	88ae5380a8	Removed Vector-specific versions of NumericalDerivative, instead Vector is now a Lie object	2010-01-10 18:23:47 +00:00
Richard Roberts	19a3e228d7	Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes.	2010-01-08 00:40:17 +00:00
Richard Roberts	d80fa24a9f	Fixing directory structure	2009-08-21 22:23:24 +00:00