Frank
|
00186d9763
|
renamed file
|
2016-01-26 11:45:10 -08:00 |
|
Frank
|
ef350af957
|
Merged AggregateReadings into PreintegrationBase
|
2016-01-25 18:11:07 -08:00 |
|
Frank
|
f355437f51
|
Moved params to separate class
|
2016-01-25 14:18:35 -08:00 |
|
Frank
|
91482a7e2b
|
Inner class
|
2016-01-25 13:33:17 -08:00 |
|
Frank
|
2542d20367
|
Reverted back to functional
|
2016-01-25 12:15:29 -08:00 |
|
Frank Dellaert
|
e64fc532e3
|
Removed debug code
|
2016-01-18 00:24:17 -08:00 |
dellaert
|
5e352d15ec
|
Fixed test
|
2016-01-17 21:58:51 -08:00 |
|
dellaert
|
9d93ef7d13
|
Merge remote-tracking branch 'origin/feature/ImuFactorPush2' into manifold
|
2016-01-17 21:37:42 -08:00 |
|
dellaert
|
c20bacf025
|
Fixed equals
|
2016-01-17 21:31:29 -08:00 |
|
dellaert
|
73309d6fcf
|
Merge remote-tracking branch 'origin/feature/small_Rot3_optimizations' into feature/ImuFactorPush2
Conflicts:
gtsam/geometry/SO3.cpp
gtsam/navigation/ImuFactor.h
gtsam/navigation/PreintegratedRotation.h
|
2016-01-17 19:30:25 -08:00 |
|
Frank Dellaert
|
c81f91999d
|
Trying to avoid mallocs
|
2016-01-17 19:17:25 -08:00 |
|
Frank Dellaert
|
e1d810d37a
|
Tests pass with realistic white noise strengths
|
2016-01-17 16:31:24 -08:00 |
|
Frank Dellaert
|
dace8e3770
|
Refactored for clarity
|
2016-01-17 15:46:43 -08:00 |
|
Frank Dellaert
|
9a5a8f7c7a
|
functors are now obsolete :-(
|
2016-01-17 15:17:43 -08:00 |
|
Frank Dellaert
|
d4bbd1f289
|
Added numerical derivative in place of CorrectWith...
|
2016-01-17 15:10:54 -08:00 |
|
Frank Dellaert
|
1790d1dc7e
|
Merge remote-tracking branch 'origin/feature/ImuFactorPush2' into manifold
Conflicts:
gtsam/navigation/ScenarioRunner.cpp
gtsam/navigation/ScenarioRunner.h
gtsam/navigation/tests/testScenarioRunner.cpp
|
2016-01-17 14:53:50 -08:00 |
|
Frank Dellaert
|
43520265aa
|
Fixed all navigation tests that were still using deprecated methods/types
|
2016-01-17 14:44:03 -08:00 |
|
Frank Dellaert
|
c2af5400c4
|
Simplified derivatives - complicated "accurate" path might be wrong
|
2016-01-16 18:33:11 -08:00 |
|
Frank Dellaert
|
236a69609c
|
Coordinate compiler flags
|
2016-01-16 18:25:01 -08:00 |
Jing Dong
|
c3edee1e2d
|
fixed imu factor serialization, add unit test
|
2016-01-13 21:33:41 -05:00 |
|
Frank Dellaert
|
21a63d8d0e
|
Using covariances again
|
2016-01-03 21:46:15 -08:00 |
|
Frank Dellaert
|
c2a046cdb0
|
Exact dexp derivative flag
|
2016-01-03 10:53:50 -08:00 |
|
Frank Dellaert
|
fb94e621e0
|
General noise models
|
2016-01-03 09:58:36 -08:00 |
|
Frank Dellaert
|
07693337af
|
Massive refactor: matrices only!
|
2016-01-03 00:30:45 -08:00 |
|
Frank Dellaert
|
a5c955a44c
|
Debugging matrix version
|
2016-01-02 23:50:05 -08:00 |
|
Frank Dellaert
|
8f507d83f2
|
Deal w name change
|
2016-01-02 16:24:10 -08:00 |
|
Frank Dellaert
|
3f17c58a5c
|
Merge branch 'feature/ImuFactorPush2' into manifold
Conflicts:
gtsam/navigation/ScenarioRunner.cpp
gtsam/navigation/ScenarioRunner.h
|
2016-01-02 16:21:01 -08:00 |
|
Frank Dellaert
|
ac544eab89
|
Merge remote-tracking branch 'origin/feature/scenarios' into feature/ImuFactorPush2
Conflicts:
gtsam/navigation/PreintegrationBase.h
|
2016-01-02 16:16:04 -08:00 |
|
Frank Dellaert
|
076612365e
|
Addressed review comments by Abe
|
2016-01-02 16:11:11 -08:00 |
|
Frank Dellaert
|
f11369ff4d
|
Block-wise multiplication
|
2016-01-02 15:47:41 -08:00 |
|
Frank Dellaert
|
a313fb92b9
|
sqrt info path
|
2016-01-02 15:25:56 -08:00 |
|
Frank Dellaert
|
2040571ad3
|
Predict covariance now calculated correctly
|
2016-01-02 14:53:41 -08:00 |
|
Frank Dellaert
|
97a8d21ebf
|
Some debugging of zeta
|
2016-01-02 13:32:28 -08:00 |
|
Frank Dellaert
|
242a387ef1
|
Added AggregateReadings class and local functors.h header. Implemented the derivative of ExpmapDerivative correction.
|
2016-01-02 13:30:58 -08:00 |
|
Frank Dellaert
|
b3ffc6d824
|
Added missing Jacobians
|
2015-12-30 00:15:02 -08:00 |
|
Frank Dellaert
|
9a26f8508e
|
Compare diagonals as well for easy debugging
|
2015-12-29 17:26:15 -08:00 |
|
Frank Dellaert
|
2440b63e32
|
Fixed covariances by dividing by dt or dt22, so the right-hand nosiy measurement is indeed used with the correct noise model
|
2015-12-29 16:13:19 -08:00 |
|
Frank Dellaert
|
8a31243761
|
Sanity check sampler, and compare 9*9 covariance on NavState
|
2015-12-29 15:38:30 -08:00 |
|
Frank Dellaert
|
e52f7ec705
|
discrete noise models
|
2015-12-29 09:47:56 -08:00 |
|
Frank Dellaert
|
0dfd44f26c
|
A first implementation of noiseModel and covariance
|
2015-12-29 09:03:13 -08:00 |
|
Frank Dellaert
|
daa9bd5b2a
|
Removed debug code
|
2015-12-28 17:20:21 -08:00 |
|
Frank Dellaert
|
9eed146612
|
Fixed two bugs
|
2015-12-28 17:19:33 -08:00 |
|
Frank Dellaert
|
52397bb4a4
|
Several more tests with different initial conditions
|
2015-12-28 17:19:15 -08:00 |
|
Frank Dellaert
|
e52cbf74a6
|
Prediction now exact with second-order position update, except in last scenario
|
2015-12-28 15:28:12 -08:00 |
|
Frank Dellaert
|
d3d3b8399d
|
Correct for gravity and V0
|
2015-12-28 13:17:41 -08:00 |
|
Frank Dellaert
|
06b1f381ea
|
Added position and velocity updates
|
2015-12-28 12:34:11 -08:00 |
|
Frank Dellaert
|
9e99f88473
|
Prediction works !
|
2015-12-28 10:00:53 -08:00 |
|
Frank Dellaert
|
68b6d31494
|
Developed linear factor graph algorithm
|
2015-12-28 09:40:05 -08:00 |
|
Frank Dellaert
|
874d492318
|
Spin
|
2015-12-28 09:37:00 -08:00 |
|
Frank Dellaert
|
d0b020b6e8
|
Skeleton compiles/links
|
2015-12-28 07:11:45 -08:00 |
|
Frank Dellaert
|
7834ac08df
|
Now using Params
|
2015-12-27 18:56:13 -08:00 |
|
Frank Dellaert
|
05df0ca0cc
|
compiler directives
|
2015-12-27 18:41:50 -08:00 |
|
Frank
|
2578a7098f
|
Large refactor with defaultParams and ScenarioRunners - MC tests commented out for now.
|
2015-12-24 16:02:04 -08:00 |
|
Frank
|
2f17c7d54f
|
comment out failing test (on Ubuntu)
|
2015-12-24 16:01:36 -08:00 |
|
Frank
|
b9281b9ea6
|
Allow different convention
|
2015-12-24 16:01:21 -08:00 |
|
Frank
|
f37fe2613b
|
Merge remote-tracking branch 'origin/feature/scenarios' into feature/ImuFactorPush2
Conflicts:
gtsam/navigation/PreintegrationBase.h
gtsam/navigation/tests/testImuFactor.cpp
|
2015-12-24 14:36:35 -08:00 |
|
Frank
|
8e1041c56a
|
Merge remote-tracking branch 'bitbucket/RSS_ImuFactor' into feature/scenarios
|
2015-12-23 16:18:59 -08:00 |
|
Frank
|
1245e899d6
|
Allow for bias
|
2015-12-23 16:14:59 -08:00 |
|
Frank Dellaert
|
5869b8cb65
|
Merge remote-tracking branch 'origin/RSS_ImuFactor' into feature/scenarios
|
2015-12-23 15:05:14 -08:00 |
|
Frank Dellaert
|
f79a9b8d3a
|
Make two acceleration scenarios
|
2015-12-23 15:04:36 -08:00 |
|
Frank Dellaert
|
31335608a8
|
Acceleration now specified in nav frame, allow angular velocity
|
2015-12-23 14:29:42 -08:00 |
|
Frank Dellaert
|
25db851a0b
|
Getting rid of old MonteCarlo - in progress
|
2015-12-23 13:44:07 -08:00 |
|
Frank Dellaert
|
e7f3f1cd29
|
Derivative tested again
|
2015-12-23 12:51:28 -08:00 |
|
Frank Dellaert
|
bf82b58782
|
Merge branch 'RSS_ImuFactor' into feature/scenarios
|
2015-12-23 12:48:17 -08:00 |
|
Frank Dellaert
|
9eb7e38cb8
|
measured quantities
|
2015-12-23 12:48:07 -08:00 |
|
Frank Dellaert
|
630c2a7a18
|
Now uses Runner
|
2015-12-23 12:34:30 -08:00 |
|
Frank Dellaert
|
b7701f0cf6
|
Merge remote-tracking branch 'origin/RSS_ImuFactor' into feature/scenarios
|
2015-12-23 12:19:44 -08:00 |
|
Frank Dellaert
|
26ae74e1fb
|
Split off cpp file
|
2015-12-23 12:19:15 -08:00 |
|
Frank Dellaert
|
d74e00ab2a
|
compilation issue
|
2015-12-23 12:12:43 -08:00 |
|
Frank Dellaert
|
9ecb6ed5f3
|
Now using ScenarioRunner
|
2015-12-23 12:12:12 -08:00 |
|
Frank Dellaert
|
27dcf8d4a2
|
Covariance convention
|
2015-12-23 12:09:28 -08:00 |
|
Frank Dellaert
|
16789c09ea
|
compilation issue
|
2015-12-23 12:09:16 -08:00 |
|
Frank Dellaert
|
e06ae41c86
|
Merge remote-tracking branch 'origin/RSS_ImuFactor' into feature/scenarios
Conflicts:
gtsam/navigation/ScenarioRunner.h
gtsam/navigation/tests/testScenarioRunner.cpp
|
2015-12-23 12:02:41 -08:00 |
|
Frank Dellaert
|
30946af981
|
Acceleration scenario tested
|
2015-12-23 11:59:56 -08:00 |
|
Frank Dellaert
|
ccef2faa95
|
Fixed pose of accelerating trajectory
|
2015-12-23 11:58:41 -08:00 |
|
Frank Dellaert
|
dc2bac5a9e
|
Moved all noise/sampling of IMU to ScenarioRunner
|
2015-12-23 11:33:52 -08:00 |
|
Frank Dellaert
|
00b83ced7a
|
AcceleratingScenario + some refactoring (v and a specified in nav frame)
|
2015-12-23 11:15:42 -08:00 |
|
Frank Dellaert
|
dfe3f3a348
|
Split off Scenario abstract base class
|
2015-12-23 09:22:05 -08:00 |
|
Frank Dellaert
|
21ed3ec441
|
Set up acceleration test
|
2015-12-23 08:59:53 -08:00 |
|
Frank Dellaert
|
dfdac8c4ca
|
Set up tests that pass
|
2015-12-22 19:30:48 -08:00 |
|
Frank Dellaert
|
4129c9651a
|
Set up tests that pass
|
2015-12-22 19:29:27 -08:00 |
|
Frank Dellaert
|
bcdfea37d9
|
pick out correct blocks
|
2015-12-22 19:28:49 -08:00 |
|
Frank Dellaert
|
9b559b3620
|
Pick out correct blocks
|
2015-12-22 19:09:05 -08:00 |
|
Frank Dellaert
|
380d0dc989
|
const correctness
|
2015-12-22 19:08:46 -08:00 |
|
Frank Dellaert
|
cebd9ed1d3
|
Merge branch 'RSS_ImuFactor' into feature/scenarios
Conflicts:
gtsam_unstable/slam/Mechanization_bRn2.cpp
|
2015-12-22 19:01:11 -08:00 |
|
Frank Dellaert
|
320823303c
|
const correctness
|
2015-12-22 19:00:09 -08:00 |
|
Frank Dellaert
|
75385d009b
|
Small improvements
|
2015-12-22 18:45:38 -08:00 |
|
Frank
|
69fa553495
|
Monte Carlo analysis
|
2015-12-22 14:01:16 -08:00 |
|
Frank
|
95745015e0
|
Moved to header file
|
2015-12-22 11:49:14 -08:00 |
|
Frank
|
40bc3149ad
|
Added loop
|
2015-12-22 11:47:37 -08:00 |
|
Frank
|
f1fa66e9c1
|
Removed debug code
|
2015-12-22 11:39:20 -08:00 |
|
Frank
|
d3534b2d2b
|
Fixed circle example
|
2015-12-22 11:37:04 -08:00 |
|
Frank Dellaert
|
699ba32c9e
|
Further examining a circular trajectory
|
2015-12-22 10:02:12 -08:00 |
|
Frank Dellaert
|
846a777491
|
Forward scenario
|
2015-12-21 15:12:03 -08:00 |
|
Frank Dellaert
|
be47a2ef15
|
Run Scenario and check mean
|
2015-12-21 14:49:52 -08:00 |
|
Frank Dellaert
|
988837be6a
|
Moved to header, added some methods
|
2015-12-21 14:29:52 -08:00 |
|
Frank Dellaert
|
d0f911139d
|
First Scenario test
|
2015-12-21 13:57:26 -08:00 |
|
Frank Dellaert
|
a03924eb85
|
Merge remote-tracking branch 'origin/develop' into feature/ImuFactorPush2
Conflicts:
gtsam/navigation/tests/testImuFactor.cpp
|
2015-12-15 12:43:50 -08:00 |
|
Frank
|
ee5bd7ac39
|
Increased # MC samples
|
2015-10-19 15:20:07 -07:00 |
|
Frank Dellaert
|
ee7ada9b81
|
Got rid of commented out tests, made MC do more samples
|
2015-10-10 14:16:30 -07:00 |
|
Frank Dellaert
|
a69c43bf43
|
matchesParamsWith, a few new constructors, and Doxygen streamlining
|
2015-10-10 13:51:39 -07:00 |
Christian Forster
|
23a5688008
|
make CombinedPreintegrated Params public.
|
2015-10-04 16:21:13 +02:00 |
Christian Forster
|
efc5025d73
|
Merge branch 'develop' into fix/CombinedImuFactor_DiscreteNoise
Conflicts:
gtsam/navigation/CombinedImuFactor.cpp
|
2015-09-29 22:19:04 +02:00 |
Duy-Nguyen Ta
|
d566946600
|
fix Rot3 constructor from a matrix. Revert to the generic template version, but provide a overload version for Matrix3 to avoid casting.
|
2015-09-21 10:26:43 -04:00 |
|
Duy-Nguyen Ta
|
435e042aa0
|
revert the Eigen's bug as we can't touch Eigen. Fix our code to play nice with the bug by avoiding cross product.
|
2015-09-18 23:35:51 -04:00 |
|
Duy-Nguyen Ta
|
a4dc589716
|
fix indent
|
2015-09-17 22:10:19 -04:00 |
|
Duy-Nguyen Ta
|
bc99c58226
|
fix Rot3-from-Matrix construction for Quaternion case
|
2015-09-17 17:44:00 -04:00 |
|
Duy-Nguyen Ta
|
6fb453e725
|
disable experimental tests with specified expected values
|
2015-09-17 11:34:49 -04:00 |
|
Duy-Nguyen Ta
|
a9954b3bd5
|
test pass when using priorBias in Preint instead of zeroBias
|
2015-09-17 11:32:39 -04:00 |
|
Duy-Nguyen Ta
|
cf821f5124
|
update api
|
2015-09-17 11:30:39 -04:00 |
|
Duy-Nguyen Ta
|
c7e52fe861
|
a bit more complicated test case
|
2015-09-17 11:28:59 -04:00 |
|
Duy-Nguyen Ta
|
75abc90a90
|
Informative derivative names. Only compute if need to.
|
2015-09-16 08:24:17 -04:00 |
|
Duy-Nguyen Ta
|
7f19e2ea86
|
ImuFactor Jacobian test passed.
Need to integrate at least two IMU measurements to get information on the position
|
2015-09-15 11:14:45 -04:00 |
|
Duy-Nguyen Ta
|
704411de4e
|
MonteCarlo test passed for body_P_sensor case. Unittests for Jacobians of updatedDeltaXij. Code to verify statistics and nonlinearity of generated samples.
|
2015-09-10 23:13:35 -04:00 |
|
Duy-Nguyen Ta
|
f59c442fb3
|
non-isotropic diagonal noises to check the effect of body_R_sensor. Predefine seeds for random samplers
|
2015-09-10 23:07:45 -04:00 |
|
Duy-Nguyen Ta
|
c9fae14a98
|
correct Jacobians for body_P_sensor case, including derivative for centripetal acc
|
2015-09-10 23:03:59 -04:00 |
|
Duy-Nguyen Ta
|
9f91aedd6a
|
test centrifugal derivative
|
2015-09-02 16:52:54 -04:00 |
|
dellaert
|
cf5f859679
|
Boost optional for sensor pose
|
2015-08-24 15:15:57 -07:00 |
|
Christian Forster
|
3ce789e577
|
Fix computation of bias covariance from continous-time noise density (issue #252).
|
2015-08-21 18:00:00 +02:00 |
|
Duy-Nguyen Ta
|
2d251c6411
|
make one MC test passed by using non-zero random seeds and increasing the number of samples
|
2015-08-10 21:03:21 -04:00 |
Luca
|
90ea83aa38
|
printing covariance
|
2015-08-10 19:30:25 -04:00 |
|
Luca
|
7bb819437f
|
added comments
|
2015-08-10 19:29:55 -04:00 |
|
dellaert
|
7fc1befdca
|
Two different random seeds for better Monte-Carlo
|
2015-08-09 11:43:26 -07:00 |
|
dellaert
|
a3032fe367
|
Params::print, and comments
|
2015-08-09 11:23:34 -07:00 |
|
dellaert
|
887c0d8f59
|
Added .cpp file and a print for parameters
|
2015-08-09 11:23:12 -07:00 |
|
dellaert
|
9af69254b2
|
Refactored arm correction but there is still a difference in regression values. Did I introduce a bug?
|
2015-08-04 08:31:47 -07:00 |
|
dellaert
|
3ae998d31d
|
Renamed to make frame clear
|
2015-08-04 07:32:10 -07:00 |
|
dellaert
|
18d0966630
|
more Monte Carlo
|
2015-08-01 17:21:34 -07:00 |
|
dellaert
|
b8f05e1e35
|
More tests
|
2015-08-01 17:21:15 -07:00 |
|
dellaert
|
f8df938b30
|
New naming, old derivative code
|
2015-08-01 17:17:23 -07:00 |
|
dellaert
|
7224162e60
|
More Monte Carlo...
|
2015-07-31 21:04:16 -07:00 |
|
dellaert
|
b26bfb27ac
|
Removed F/G tests: derivatives no longer matched and are checked at a lower level anyways.
|
2015-07-31 15:42:22 -07:00 |
|
dellaert
|
7901077a7a
|
refactoring F and G
|
2015-07-31 15:32:16 -07:00 |
|
dellaert
|
8aca431913
|
const update method
|
2015-07-31 15:31:45 -07:00 |
|
dellaert
|
325ede23fe
|
BIG: switch to NavState delta pose
|
2015-07-31 15:08:12 -07:00 |
|
dellaert
|
e3d36da188
|
Switched argument order
|
2015-07-31 13:33:23 -07:00 |
|
dellaert
|
628a4cc4cc
|
Removed inheritance from PreintegratedRotation
|
2015-07-31 11:43:53 -07:00 |
|
dellaert
|
dd468ab495
|
Inlined rotation part
|
2015-07-31 11:31:01 -07:00 |
|
dellaert
|
c40ffa0174
|
Some more documentation
|
2015-07-31 06:37:39 -07:00 |
|
dellaert
|
3cdf8973d4
|
Monte Carlo analysis
|
2015-07-30 22:50:06 -07:00 |
|
dellaert
|
91eeede05a
|
Better documentation, and conditional evaluation of derivatives
|
2015-07-30 21:55:40 -07:00 |
|
dellaert
|
2ad50ab86e
|
More efficient derivatives
|
2015-07-30 09:48:00 -07:00 |
|
dellaert
|
cefc441fba
|
bodyVelocity and working update derivatives
|
2015-07-30 09:39:25 -07:00 |
|
dellaert
|
13f8935c52
|
update prototype
|
2015-07-30 08:05:39 -07:00 |
|
dellaert
|
9c35c931f6
|
Modernized test
|
2015-07-29 21:53:18 -07:00 |
|
dellaert
|
7149b8ee42
|
Avoid duplicate calculation of D_acc_R
|
2015-07-29 21:21:03 -07:00 |
|
dellaert
|
e5ace26d5f
|
Split method in const and non-const part
|
2015-07-29 21:04:11 -07:00 |
|
dellaert
|
d0467c53dd
|
Use PreintegratedRotation::integrateMeasurement
|
2015-07-29 20:40:19 -07:00 |
|
dellaert
|
aebe8161dd
|
Strengthened AHRS tests
|
2015-07-29 16:14:42 -07:00 |
|
dellaert
|
0b4919e099
|
Refactoring of integrateMeasurement to reduce copy/paste
|
2015-07-29 15:49:03 -07:00 |