5a41f50f8c
Comment only
2015-02-10 20:14:02 +01:00
7508aa1fec
Put in dummy code so compiles and links - tests fail, obviously
2015-02-10 19:04:25 +01:00
6134c01e19
Merged in feature/fixPCGSolver (pull request #94 )
...
Resolve PCG solver test failure on Mac
2015-02-10 16:55:38 +01:00
a72e450fbf
Merged in feature/fixRegularHessianFactor (pull request #93 )
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Remove warning from RegularHessianFactor
2015-02-10 16:40:44 +01:00
a5737fc8fb
Merged in feature/IMUenhanced (pull request #92 )
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added missing Jacobian when 2ndOrderIntegration = true
2015-02-10 16:37:05 +01:00
5554c7af9b
Add GTSAM_EXPORT for Windows build
2015-02-07 23:35:01 -05:00
12020ee7a3
duplicate symbol errors on Windows
2015-02-07 23:31:53 -05:00
4bc9ee6787
Fix error from PCG solver which causes test failure on Mac, with Luca
2015-01-30 14:28:24 -05:00
9ac98849b1
To avoid warning, add non raw memory access multiplyHessianAdd with throwing exception.
2015-01-29 18:06:14 -05:00
3608429ae7
Merge branch 'develop'
2015-01-26 10:20:50 -05:00
acf1368dd5
Merged in feature/camera_flying_example (pull request #88 )
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Flying Camera Example
2015-01-23 04:46:20 +01:00
f45ad82940
Fixed test
2015-01-22 00:21:28 +01:00
5b917f55ba
getPose with derivative (for expressions)
2015-01-22 00:06:02 +01:00
be37e1ed05
Fix for Issue #201
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It seems like MSVC was unable to identify the template specialization
for the 'const' keyword. So added a specialization in each of these
files for that
2015-01-21 13:02:35 -05:00
47811e3a64
Merged in fix/c++11-narrowing (pull request #90 )
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Fix the c++ type narrowing error on OSX/clang
2015-01-19 19:05:42 +01:00
f8e8729c8d
fix Unit3 and EssentialMatrix serialization
2015-01-19 12:11:21 -05:00
ab23788d5f
Formatting
2015-01-19 12:41:04 +01:00
a30f7436a4
Addressing code review
2015-01-19 12:39:43 +01:00
8de7e2e0d2
deleted useless multiplication by identity
2015-01-17 18:04:43 -05:00
7382f38de4
Avoid warning on windows
2015-01-16 19:17:05 +01:00
aba2201509
Fix for the OSX/clang c++ narrowing error
2015-01-16 15:43:42 +01:00
7cdbac4b5c
Fix warnings by latest CMake 3.1. Variables should be unquoted: Policy CMP0054 is not set: Only interpret if() arguments as variables or keywords when unquoted.
2015-01-16 09:33:02 -05:00
d0579dff50
Wrapping Cal3Unified as a derived class of Cal3DS2_Base
2015-01-15 16:17:53 +01:00
e575f27e4a
removed dead code from old default charts in Values
2015-01-14 14:43:42 +01:00
d79b9fc04b
Merged in feature/RegularFactors (pull request #68 )
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Regular (raw memory access) Factors
2015-01-13 22:11:01 -05:00
69deb225b8
changed bind to boost::bind
2015-01-13 19:23:52 -05:00
9c4942021a
fixed some coding error
2015-01-13 19:23:23 -05:00
8bd03e7e50
dllimport does not allow definition in header
2015-01-13 19:22:46 -05:00
a2c8f69c3d
Compile with latest Boost version on Mac (compile issues with boost::lambda)
2015-01-13 20:26:48 +01:00
bc379cc6b9
improved tests, and included correct jacobian when use2ndOrderIntegrationFlag is true
2015-01-11 16:04:03 -05:00
fcd705f716
Correct Eigen comma initialization
2015-01-01 18:12:45 -05:00
e13243b140
Merge branch 'develop' into feature/RegularFactors
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Conflicts:
gtsam/linear/GaussianFactorGraph.cpp
gtsam/linear/JacobianFactor.cpp
gtsam/linear/JacobianFactor.h
tests/testPreconditioner.cpp
2015-01-01 17:50:27 -05:00
7091c2bd2e
To resolve conflicts first, revert the commitment of merging JacobianSchurFactor into RegularJacobianFactor.
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JacobianSchurFactor is merged into RegularJacobianFactor. Derived classes from JacobianSchurFactor are changed to be derived from RegularJacobianFactor. (reverted from commit 7e0033208c
2015-01-01 17:35:58 -05:00
b6a7dc0530
Now print type along with value
2014-12-30 18:32:03 +01:00
ff61d92283
Obsolete decalaration.
2014-12-30 17:15:33 +01:00
7e0033208c
JacobianSchurFactor is merged into RegularJacobianFactor. Derived classes from JacobianSchurFactor are changed to be derived from RegularJacobianFactor.
2014-12-29 14:48:48 -05:00
ab1148a508
Added clone method
2014-12-29 14:10:07 +01:00
9367dc2fb5
Fixed derivatives...
2014-12-28 21:31:45 +01:00
bed5132ca1
Removed obsolete tests
2014-12-28 21:31:16 +01:00
4d6455fa7f
Made tests work again after removing overloads (in develop)
2014-12-28 20:35:26 +01:00
c58f2c15dc
Moved to gtsam
2014-12-28 19:09:12 +01:00
3587ad4e2c
Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
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Conflicts:
examples/SFMExampleExpressions.cpp
2014-12-28 18:53:09 +01:00
4e9d31d40d
Fixed const correctness
2014-12-28 18:23:39 +01:00
3ddd7d3e7a
Fix merge error
2014-12-28 18:23:11 +01:00
f9c353d4a5
Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
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Conflicts:
.cproject
gtsam/base/LieMatrix.h
gtsam/base/LieVector.h
gtsam/base/OptionalJacobian.h
gtsam/base/tests/testOptionalJacobian.cpp
gtsam/geometry/Cal3_S2Stereo.h
gtsam/geometry/CalibratedCamera.h
gtsam/geometry/PinholeCamera.h
gtsam/geometry/Point2.h
gtsam/geometry/Point3.h
gtsam/geometry/Pose2.cpp
gtsam/geometry/Pose2.h
gtsam/geometry/Pose3.cpp
gtsam/geometry/Pose3.h
gtsam/geometry/Rot2.cpp
gtsam/geometry/Rot2.h
gtsam/geometry/Rot3.cpp
gtsam/geometry/Rot3.h
gtsam/geometry/Rot3M.cpp
gtsam/geometry/Rot3Q.cpp
gtsam/geometry/Unit3.cpp
gtsam/geometry/tests/testRot3.cpp
gtsam/nonlinear/AdaptAutoDiff.h
gtsam/nonlinear/Expression-inl.h
gtsam/nonlinear/Expression.h
gtsam/nonlinear/tests/testExpression.cpp
gtsam/slam/RangeFactor.h
timing/timeAdaptAutoDiff.cpp
timing/timeCameraExpression.cpp
2014-12-28 17:45:41 +01:00
401ee70364
Fixed overload resoltion error in template matching by removing overloads in traits
2014-12-28 17:14:04 +01:00
c816c33272
Removed ChartValue
2014-12-28 15:24:20 +01:00
097f0fb80d
Fix paths
2014-12-28 14:51:19 +01:00
c8faa102e3
Moved EexpressionFactor related files to gtsam
2014-12-28 13:48:13 +01:00
a25b2f14d6
SO3 now Lie group again!
2014-12-27 13:37:15 +01:00
eb5d619729
Added deprecated methods back in for MATLAB toolbox
2014-12-26 20:58:23 +01:00
a59ace5879
Updated derivatives
2014-12-26 20:55:27 +01:00
4610019d89
Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits
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Conflicts:
gtsam/navigation/AHRSFactor.cpp
gtsam/navigation/CombinedImuFactor.cpp
gtsam/navigation/ImuFactor.cpp
gtsam/navigation/tests/testAHRSFactor.cpp
2014-12-26 19:29:49 +01:00
0a754f6b5f
Fixed compile problem
2014-12-26 18:23:30 +01:00
a881e8d3ee
Cherry-picked imuFixed differences
2014-12-26 18:23:14 +01:00
f36dc59a8c
Documentation, authorship.
2014-12-26 17:16:08 +01:00
e5017984a1
traits_x -> traits
2014-12-26 16:47:51 +01:00
5ead98afb7
Merged in feature/simplerManifold (pull request #76 )
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Simpler Manifold
2014-12-26 16:16:04 +01:00
ba0cef8ca6
Fixed AdaptAutoDiff
2014-12-26 16:13:13 +01:00
74c588aee9
Re-factored scalar traits and fixed Matrix traits (bug in RowMajor, compile issues for dynamic types)
2014-12-26 16:11:53 +01:00
27156ec8c1
Split up derivative tests
2014-12-26 16:10:47 +01:00
625ebca72a
Lucky guess fix of decoupled derivatives
2014-12-26 00:40:08 +01:00
9955610ea4
Back to compile flags
2014-12-26 00:19:59 +01:00
2aaa7e7564
fix degenerated cases in Pose3's ExpmapDerivative. testPose3 passed.
2014-12-25 16:59:11 -05:00
afe20d83bd
Dealing with Pose3 mojo loss
2014-12-25 20:04:28 +01:00
47ff09f6c8
Pose3 lost its mojo! But there are errors in Expmap/Logmap derivatives around identity...
2014-12-25 19:43:32 +01:00
2624e9876d
Testing machinery
2014-12-25 19:42:21 +01:00
b5c5a268a7
Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits
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Conflicts:
gtsam/geometry/Pose2.h
gtsam/geometry/Pose3.cpp
gtsam/geometry/tests/testPose3.cpp
2014-12-25 18:16:30 +01:00
c8b3bd7598
Fixed and tested chart derivatives (for Pose2, SLOW EXPMAP)
2014-12-25 17:43:43 +01:00
7213f0b2eb
Moved Canonical to AdaptAutoDiff.h for now
2014-12-25 17:42:44 +01:00
ce425524c0
Fix small mistake in Equals
2014-12-25 17:41:06 +01:00
4635d22d7f
Now argument of LogmapDerivative is correct
2014-12-25 16:22:21 +01:00
1b61d0a7f3
New tests for Expmap/Logmap derivatives
2014-12-25 16:11:13 +01:00
65bbb5e12d
use static free function and fix comments
2014-12-25 09:07:21 -05:00
6feb06bc91
less confusing comments
2014-12-25 08:54:53 -05:00
34592f21c4
remove unnecessary malloc
2014-12-25 08:53:53 -05:00
5d0e8f202f
unify duplicated code
2014-12-24 14:08:32 -05:00
5ae9f19de2
unify duplicated code
2014-12-24 14:08:08 -05:00
ea80e36b24
Pose3 [Expmap/Logmap]Derivative
2014-12-24 14:01:16 -05:00
ea4e9a5ac6
small code optim
2014-12-24 14:00:33 -05:00
8191ad5078
Rot3 modernization: now derives from LieGroup, SLOW_CAYLEY is gone, retract and localCoordinates auto-generated so no more flag. Might re-add instance-based expmap and logmap in LieGroup for convenienece.
2014-12-24 17:43:38 +01:00
78386ad144
Merge ExmapeDerivative/LogmapDerivative changes from 'origin/develop' into feature/tighteningTraits
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Conflicts:
gtsam/base/LieScalar.h
gtsam/geometry/Point2.h
gtsam/geometry/Point3.h
gtsam/geometry/Rot3.h
gtsam/geometry/Rot3M.cpp
gtsam/geometry/Rot3Q.cpp
gtsam/geometry/tests/testRot3.cpp
2014-12-24 13:55:15 +01:00
e0a767e7fd
Renamed all dexpL/dexpInvL, merged Luca/Duy versions in Rot3
2014-12-24 12:25:53 +01:00
2ffa9dc6d2
Renamed old Rot3 methods
2014-12-24 11:36:06 +01:00
2f31500170
Removed print/equals testing (not its place, spurious output)
2014-12-24 11:35:17 +01:00
0a7e099eec
Merged in Luca's rename to ExpmapDerivative and LogMapDerivative from 'origin/feature/imuFixed'
2014-12-24 11:07:52 +01:00
f22c922600
The great Lie group heist: LieGroup CRTP class that defines both Manifold and Lie Group methods for a class, using AdjointMap as its main weapon. For the retract/localCoordinates, a ChartAtOrigin struct needs to be defined that can be switched at compile time (example Pose2). Rot3, Pose3 soon to follow.
2014-12-24 01:37:30 +01:00
6ddd37a0e2
typename
2014-12-24 01:35:04 +01:00
3d15868ece
Renamed internal::LieGroup -> internal::LieGroupTraits
2014-12-24 01:34:33 +01:00
82c8fd181a
Lie group traits tested
2014-12-24 01:33:38 +01:00
6a52d93e96
Using FixedDimension
2014-12-24 01:29:08 +01:00
4078f02c1f
Fixed typo
2014-12-23 21:39:15 +01:00
b67ef25b96
Print via traits
2014-12-23 21:37:43 +01:00
b9de4a6f47
AdjointMap
2014-12-23 21:37:28 +01:00
d3c8d348c5
Changed dynamic allocations of ones, zeros and identity matrices to static.
2014-12-23 11:32:02 -05:00
ff32b912bc
Made Class apparent, made requireemnts simpler (no derivatives needed - for now).
2014-12-23 15:04:53 +01:00
6d05069ef7
Cleaned up and tested dynamic version
2014-12-23 14:56:49 +01:00
36f8510d7d
Made clear template argument is a class, eliminated small amount of copy/paste.
2014-12-23 14:56:49 +01:00
6648da20fe
Made clear template argument is a class, made explicit only fixed-size types handled for now
2014-12-23 14:56:49 +01:00
ea3b4624d8
Testable concept prereqs check
2014-12-23 14:56:48 +01:00
8f56e9a261
Small refactor
2014-12-23 14:56:48 +01:00
52ec4f0784
fixed serialization tests
2014-12-23 12:35:49 +01:00
c6ae119414
Tightened what is needed for Lie, i.e., fewer versions of retract/localCoordinates
2014-12-22 23:42:52 +01:00
f5c9c24330
Corrected sillyness
2014-12-22 23:41:42 +01:00
82a2d7f029
Add a unit test for gradientAtZero with multi-factors
2014-12-22 14:51:23 -05:00
1affae697c
Correct gradientAtZero: remove zero initialization
2014-12-22 14:50:26 -05:00
55fe170d4f
ImuBias loses its mojo (superfluous Lie/Manifold stuff)
2014-12-22 17:26:44 +01:00
355b938f3a
Point3 loses its mojo (superfluous Lie/Manifold stuff)
2014-12-22 17:22:45 +01:00
7491ea4028
Comments
2014-12-22 17:22:26 +01:00
0200e382b3
FixedDimension
2014-12-22 17:22:09 +01:00
65ae450abd
Point2 loses its mojo (superfluous Lie/Manifold stuff)
2014-12-22 16:05:16 +01:00
5473550eea
Using traits in many places (forced by loss of Point2 mojo)
2014-12-22 16:02:33 +01:00
469b1d4e92
Fixed-size version of VectorSpace
2014-12-22 15:03:05 +01:00
128cc741ac
LieScalar loses its mojo (superfluous Lie/Manifold stuff)
2014-12-22 14:55:14 +01:00
e9fa599a78
LieVector loses its mojo (superfluous Lie/Manifold stuff)
2014-12-22 14:46:16 +01:00
74ac79d588
LieMatrix loses its mojo (superfluous Lie/Manifold stuff)
2014-12-22 14:25:14 +01:00
242ebca494
Merge branch 'feature/tighteningTraits' of https://bitbucket.org/gtborg/gtsam into feature/tighteningTraits
2014-12-22 13:56:33 +01:00
749eeaebf8
fixed testAHRSFactor
2014-12-22 13:56:19 +01:00
628c4fbdab
Fixed -> Matrix
2014-12-22 13:55:59 +01:00
02067dd5d0
Re-enabled concept checks
2014-12-22 13:51:25 +01:00
6ea60745eb
Fixed incorrect template argument leading to test failure
2014-12-22 13:13:57 +01:00
e44dfa5052
Fixed incorrect template argument leading to test failure
2014-12-22 13:07:51 +01:00
903e5a3a86
Restored old path, added SLOW_BUT_CORRECT_BETWEENFACTOR ifdef
2014-12-22 13:07:51 +01:00
9a22f3a825
Fixed bug in BetweenFactor
2014-12-22 11:25:21 +01:00
7f2876f456
Added traits test
2014-12-22 11:25:02 +01:00
06c3696176
Fixed more problems so everything compiles now after splitting up concepts into Group/Manifold/Lie/VectorSpace. Still 25 tests that fail.
2014-12-22 02:52:31 +01:00
99a50a2f87
Split up concepts into Group/Manifold/Lie/VectorSpace. Also fixed some implementations and put in exceptions elsewhere, rather than CONCEPT_NOT_IMPLEMENTED macro.
2014-12-22 02:50:52 +01:00
bc6af85a9c
Fixed issue in debug mode
2014-12-21 22:14:10 +01:00
79d8514528
MASSIVE edit: made Testable its own concept, and moderinized Testable.h to use Testable traits. This required adding Testable traits in many classes.
2014-12-21 22:02:57 +01:00
ede01ac6d3
Bugfix ScalarTraits
2014-12-21 22:02:57 +01:00
31b2a92b66
Missing header
2014-12-21 22:02:13 +01:00
c607f48a3c
fixed some Point2 constructions
2014-12-21 18:50:01 +01:00
88a83fe9e7
re-formatted ScalarTraits while checking correctness (seems correct)
2014-12-21 16:46:20 +01:00
505c876588
Small changes, fixed matrices
2014-12-21 15:57:21 +01:00
be356947ca
Agree this should be done, don't agree it should be test failure.
2014-12-21 15:08:34 +01:00
25f95ed22f
Additional checking
2014-12-21 15:04:29 +01:00
7bba8c42e4
Fixed testQuaternion
2014-12-21 14:59:59 +01:00
00b374c9e9
Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits
...
Conflicts:
gtsam/base/LieScalar.h
gtsam/geometry/Point2.h
2014-12-21 14:39:23 +01:00
f939723ca4
Two small comments
2014-12-21 13:54:27 +01:00
a34dae558a
Some reformatting, doxygen niceties...
2014-12-21 13:52:36 +01:00
3d3d574325
Small refactor
2014-12-21 13:30:21 +01:00
b7204b100d
PoseRTV
2014-12-20 20:22:34 +01:00
6e5dbcf2a3
flushing out more compilation errors in tests
2014-12-20 11:54:08 +01:00
6120bf0846
Fixed matrix block index of jacobians in CombinedIMUFactor.
2014-12-19 14:15:14 -05:00
30afbc5f1d
closed-form formula of Pose2's expmap/logmap derivatives
2014-12-19 13:53:08 -05:00
02e4f920d0
Merged in fix/matlab_examples_wrapper (pull request #75 )
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Fixing bugs in Wrap - re-creating
2014-12-19 13:04:29 -05:00
d7ba38e476
fixed testAHRSFactor in debug mode.
2014-12-19 12:56:41 -05:00
33d53211d3
define insertDouble, missed in merge
2014-12-19 12:12:05 -05:00
b805a339f3
Merge 'origin/fix/matlab_examples_wrapper' into feature/SoundSlam
...
Conflicts:
.cproject
gtsam.h
gtsam/nonlinear/Expression-inl.h
gtsam/nonlinear/Expression.h
gtsam/nonlinear/Values.h
gtsam/nonlinear/tests/testExpression.cpp
2014-12-19 16:27:23 +01:00
fac54f87b9
Added Vector1 from develop
2014-12-19 16:18:10 +01:00
dellaert
Chris Beall
Sungtae An
Luca
balderdash-devil
Jing Dong
Paul Furgale
Mike Bosse
thduynguyen
krunalchande
Zhaoyang Lv