b3f0f3877c
capitalized ExpmapDerivative and LogmapDerivative
2014-12-10 16:16:29 -05:00
bf8de1341b
Merge branch 'develop'
2014-12-09 17:13:30 -05:00
e82b815a48
renamed right jacobian of expmap and logmap (removed "right", according to Frank's suggestion :-)
2014-12-09 17:10:04 -05:00
422db08c69
included Jacobian for logmap and expmap, with unit tests (Note: only implemented for Rot3M, this will not work in quaternion mode)
2014-12-08 12:31:02 -05:00
bd6f210b87
changed << to =. gives error because range() was removed from PinholeCamera.h ?
2014-12-04 09:36:00 -05:00
aad0b2876b
Changed Matrix.h to correct return values amd impleemnted rectangular matrix types.
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Also changed block operations to <<
2014-12-03 15:16:55 -05:00
7116661a2e
changed naming convention of const matrices to _DxD. @dellaert
2014-12-03 10:58:09 -05:00
4e557d38e6
updated Matrix.h with commonly used matrices.
2014-12-03 09:59:10 -05:00
595afb51fe
fixed Rot3(). @dellaert, I will do the '->', Identity(), setZero() etc . once I am fully done with geometry.
2014-12-01 18:20:03 -05:00
6505e602d8
FixedRef is now OptionalJacobian
2014-11-28 17:14:26 +01:00
1e4905ef04
Now use new FixedRef type in all methods that I used fixed-sized matrices in to develop Expressions. All copy/paste bloat is now gone, and boost::none arguments are back.
2014-11-28 01:56:28 +01:00
cfe56a0aa8
Removed transpose_. It did speed up things but was bad design. Will need to profile again and find different ways to cope with transpose() overhead. One way is to return a Eigen::Transpose<> object as hinted to in comments.
2014-10-23 19:13:37 +02:00
483d713859
unrotate is same now, with transpose_
2014-10-22 22:16:35 +02:00
1061a66fc1
Speeding up localCoordinates
2014-10-22 13:45:57 +02:00
5bcc3d922c
Just always store transpose? Problem with optional was that the *empty* optional was copied from the Values, so we gained nothing.
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However, this is expensive space-wise (double), and optimizes for a particular usage of Rot3, so does not seem good practice (see stack overflow discussion, as well). But the alternative is cumbersome.
2014-10-15 14:28:47 +02:00
c4bf680e96
Cached Rot3::transpose(). Inspired by @cbeall3 fix of Unit3, I realized that with one million points and 1000 cameras, the same Matrix3 (R_.transpose()) was computed a 1000 more times than needed. Especially with quaternions this would be expensive, even with Rot3Q.
2014-10-15 11:51:41 +02:00
b704b7b1a1
Faster versions
2014-10-07 19:34:45 +02:00
ea40de6758
Fixed Jacobian versions
2014-10-06 21:37:05 +02:00
5bc4810dcb
Correcting bug fixes for Visual Studio. See bb issues #115,116,118 for more information
2014-09-08 15:19:54 -04:00
686051c032
Convert DOS line endings to UNIX
2014-01-09 16:39:27 -05:00
f54861f851
Made it more clear that Rotation constructor takes columns.
2014-01-03 15:56:45 -05:00
bd3126f7b4
Merged changes from the trunk back into geometry. This triggered Eigen merge, as well as Vector/Matrix in base. Next up: slam, unstable.
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git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/branches/2.4@20422 898a188c-9671-0410-8e00-e3fd810bbb7f
2013-12-21 18:34:23 -05:00
6959ad5e6f
Fix error when wrapping a library using Rot3 to matlab: "type stored... is N5gtsam4Rot3E but requested type was N5gtsam4Rot3E", because gtsam is linked 2 times: one with the library, one with the mex, and somehow Rot3 is not virtual and exists in both. Moving print implementation to cpp seems to fix this problem.
2013-08-08 08:51:52 +00:00
6bf6cc8bdd
Point3 and Rot3 dexpInvL
2013-08-06 16:26:35 +00:00
bcae0afd31
Putting sub matrices along the diagonal of a big matrix. dexpL for Rot3 and Point3
2013-08-06 14:24:10 +00:00
640fcd94b1
Added stream operator <<
2013-06-05 23:41:46 +00:00
eeef9eab32
Generating config.h file in CMake with quaternion mode flag, dataset paths. Also added CMake option to use system-installed Eigen, which works by generating a global eigen include file containing the corresponding include paths.
2013-04-25 15:57:15 +00:00
315223b166
Fixed problems with last commit
2013-04-05 21:37:35 +00:00
547323cc79
Fixed a bunch of compiler warnings
2013-04-05 21:34:04 +00:00
e8cb5491f0
Added function to convert from a Rot3 to a vector quaternion that works in matlab. Fixed plot2DTrajectory to actually plot poses when there are no marginals
2013-03-25 17:58:11 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
5839d1bfaa
minor improvements to RQ and cleanup
2012-04-11 15:12:39 +00:00
1623b8ce12
converted Rot3M to fixed-size Matrix, and changed some methods elsewhere to return fixed-size Vector3 to avoid heap allocations for speedup.
2012-04-11 06:46:19 +00:00
c58aa67a25
Added matrix dimension check in constructor (because MATLAB crashed)
2012-01-16 16:10:15 +00:00
c75f7ead65
explicit retract versions for calling in MATLAB
2012-01-10 20:23:48 +00:00
c8d6b389a4
Fixed spelling of coordinates modes in Rot3 and Pose3
2012-01-08 21:29:05 +00:00
f2638b2c0c
Fixed names of coordinates modes in Rot3 and Pose3
2012-01-08 21:25:29 +00:00
9055024032
Made CoordinatesMode enum name fully-qualified to avoid confusion with Pose3
2012-01-08 20:43:59 +00:00
fdf7bc6dae
retract and localCoordinates optional argument in Rot3 to switch between different math versions, and unit testing all versions
2012-01-08 19:40:32 +00:00
164ff7ecd8
inlined unrotate instead of calling transpose
2012-01-07 21:11:25 +00:00
f9f3b1c47d
Did more extensive testing on Logmap, cleaned that up, and replaced Taylor expansion on theta with one on (trace-3)
2012-01-07 19:40:42 +00:00
0ba97cc39a
Mathematica closed form optimization (procrastination?) gone wild
2012-01-06 20:44:06 +00:00
610faa8439
Experimented with using Eigen in Cayley implementations - ~4x speedup in Rot3M localCoordinates
2012-01-06 16:45:07 +00:00
dae02c387f
Implemented and tested Rot3.retract based on the Cayley Transform (about three times faster)
2012-01-06 01:30:10 +00:00
2dde2cf27c
replace double matrix call
2012-01-04 16:50:55 +00:00
568ce68427
Fixed comments and authorship
2012-01-02 20:54:49 +00:00
b9bd2e61d8
Simplified Rot3 by having only one implementation available at a time
2012-01-02 20:24:23 +00:00
30508264d5
Reordered functions to be in the same order in the header and cpp files
2012-01-02 16:17:27 +00:00
fa4af2e211
Merged Rot3M.h and Rot3Q.h into Rot3.h, which now defines both Rot3M and Rot3Q.
2012-01-02 02:24:29 +00:00
c28bc7b06e
Moved all Rot3 function implementations to cpp files instead of header files
2012-01-01 23:46:34 +00:00
Luca
nsrinivasan7
dellaert
Andrew Melim
Richard Roberts
Frank Dellaert
Duy-Nguyen Ta
Alex Cunningham
Chris Beall