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3848 Commits (444c28aeab7c5b9080b3d4622ba0af2e2f0cfa01)

Author SHA1 Message Date
dellaert eb5d619729 Added deprecated methods back in for MATLAB toolbox 2014-12-26 20:58:23 +01:00
dellaert a59ace5879 Updated derivatives 2014-12-26 20:55:27 +01:00
dellaert 4610019d89 Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits 
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
dellaert 0a754f6b5f Fixed compile problem 2014-12-26 18:23:30 +01:00
dellaert a881e8d3ee Cherry-picked imuFixed differences 2014-12-26 18:23:14 +01:00
dellaert f36dc59a8c Documentation, authorship. 2014-12-26 17:16:08 +01:00
dellaert e5017984a1 traits_x -> traits 2014-12-26 16:47:51 +01:00
Frank Dellaert 5ead98afb7 Merged in feature/simplerManifold (pull request #76) 
Simpler Manifold
 2014-12-26 16:16:04 +01:00
dellaert ba0cef8ca6 Fixed AdaptAutoDiff 2014-12-26 16:13:13 +01:00
dellaert 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
dellaert 27156ec8c1 Split up derivative tests 2014-12-26 16:10:47 +01:00
dellaert 625ebca72a Lucky guess fix of decoupled derivatives 2014-12-26 00:40:08 +01:00
dellaert 9955610ea4 Back to compile flags 2014-12-26 00:19:59 +01:00
thduynguyen 2aaa7e7564 fix degenerated cases in Pose3's ExpmapDerivative. testPose3 passed. 2014-12-25 16:59:11 -05:00
dellaert afe20d83bd Dealing with Pose3 mojo loss 2014-12-25 20:04:28 +01:00
dellaert 47ff09f6c8 Pose3 lost its mojo! But there are errors in Expmap/Logmap derivatives around identity... 2014-12-25 19:43:32 +01:00
dellaert 2624e9876d Testing machinery 2014-12-25 19:42:21 +01:00
dellaert b5c5a268a7 Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits 
Conflicts:
	gtsam/geometry/Pose2.h
	gtsam/geometry/Pose3.cpp
	gtsam/geometry/tests/testPose3.cpp
 2014-12-25 18:16:30 +01:00
dellaert c8b3bd7598 Fixed and tested chart derivatives (for Pose2, SLOW EXPMAP) 2014-12-25 17:43:43 +01:00
dellaert 7213f0b2eb Moved Canonical to AdaptAutoDiff.h for now 2014-12-25 17:42:44 +01:00
dellaert ce425524c0 Fix small mistake in Equals 2014-12-25 17:41:06 +01:00
dellaert 4635d22d7f Now argument of LogmapDerivative is correct 2014-12-25 16:22:21 +01:00
dellaert 1b61d0a7f3 New tests for Expmap/Logmap derivatives 2014-12-25 16:11:13 +01:00
thduynguyen 65bbb5e12d use static free function and fix comments 2014-12-25 09:07:21 -05:00
thduynguyen 6feb06bc91 less confusing comments 2014-12-25 08:54:53 -05:00
thduynguyen 34592f21c4 remove unnecessary malloc 2014-12-25 08:53:53 -05:00
thduynguyen 5d0e8f202f unify duplicated code 2014-12-24 14:08:32 -05:00
thduynguyen 5ae9f19de2 unify duplicated code 2014-12-24 14:08:08 -05:00
thduynguyen ea80e36b24 Pose3 [Expmap/Logmap]Derivative 2014-12-24 14:01:16 -05:00
thduynguyen ea4e9a5ac6 small code optim 2014-12-24 14:00:33 -05:00
dellaert 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
dellaert 78386ad144 Merge ExmapeDerivative/LogmapDerivative changes from 'origin/develop' into feature/tighteningTraits 
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
dellaert e0a767e7fd Renamed all dexpL/dexpInvL, merged Luca/Duy versions in Rot3 2014-12-24 12:25:53 +01:00
dellaert 2ffa9dc6d2 Renamed old Rot3 methods 2014-12-24 11:36:06 +01:00
dellaert 2f31500170 Removed print/equals testing (not its place, spurious output) 2014-12-24 11:35:17 +01:00
dellaert 0a7e099eec Merged in Luca's rename to ExpmapDerivative and LogMapDerivative from 'origin/feature/imuFixed' 2014-12-24 11:07:52 +01:00
dellaert 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
dellaert 6ddd37a0e2 typename 2014-12-24 01:35:04 +01:00
dellaert 3d15868ece Renamed internal::LieGroup -> internal::LieGroupTraits 2014-12-24 01:34:33 +01:00
dellaert 82c8fd181a Lie group traits tested 2014-12-24 01:33:38 +01:00
dellaert 6a52d93e96 Using FixedDimension 2014-12-24 01:29:08 +01:00
dellaert 4078f02c1f Fixed typo 2014-12-23 21:39:15 +01:00
dellaert b67ef25b96 Print via traits 2014-12-23 21:37:43 +01:00
dellaert b9de4a6f47 AdjointMap 2014-12-23 21:37:28 +01:00
krunalchande d3c8d348c5 Changed dynamic allocations of ones, zeros and identity matrices to static. 2014-12-23 11:32:02 -05:00
dellaert ff32b912bc Made Class apparent, made requireemnts simpler (no derivatives needed - for now). 2014-12-23 15:04:53 +01:00
dellaert 6d05069ef7 Cleaned up and tested dynamic version 2014-12-23 14:56:49 +01:00
dellaert 36f8510d7d Made clear template argument is a class, eliminated small amount of copy/paste. 2014-12-23 14:56:49 +01:00
dellaert 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
dellaert ea3b4624d8 Testable concept prereqs check 2014-12-23 14:56:48 +01:00
dellaert 8f56e9a261 Small refactor 2014-12-23 14:56:48 +01:00
Mike Bosse 52ec4f0784 fixed serialization tests 2014-12-23 12:35:49 +01:00
dellaert c6ae119414 Tightened what is needed for Lie, i.e., fewer versions of retract/localCoordinates 2014-12-22 23:42:52 +01:00
dellaert f5c9c24330 Corrected sillyness 2014-12-22 23:41:42 +01:00
Sungtae An 82a2d7f029 Add a unit test for gradientAtZero with multi-factors 2014-12-22 14:51:23 -05:00
Sungtae An 1affae697c Correct gradientAtZero: remove zero initialization 2014-12-22 14:50:26 -05:00
dellaert 55fe170d4f ImuBias loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 17:26:44 +01:00
dellaert 355b938f3a Point3 loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 17:22:45 +01:00
dellaert 7491ea4028 Comments 2014-12-22 17:22:26 +01:00
dellaert 0200e382b3 FixedDimension 2014-12-22 17:22:09 +01:00
dellaert 65ae450abd Point2 loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 16:05:16 +01:00
dellaert 5473550eea Using traits in many places (forced by loss of Point2 mojo) 2014-12-22 16:02:33 +01:00
dellaert 469b1d4e92 Fixed-size version of VectorSpace 2014-12-22 15:03:05 +01:00
dellaert 128cc741ac LieScalar loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 14:55:14 +01:00
dellaert e9fa599a78 LieVector loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 14:46:16 +01:00
dellaert 74ac79d588 LieMatrix loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 14:25:14 +01:00
Mike Bosse 242ebca494 Merge branch 'feature/tighteningTraits' of https://bitbucket.org/gtborg/gtsam into feature/tighteningTraits 2014-12-22 13:56:33 +01:00
Mike Bosse 749eeaebf8 fixed testAHRSFactor 2014-12-22 13:56:19 +01:00
Mike Bosse 628c4fbdab Fixed -> Matrix 2014-12-22 13:55:59 +01:00
dellaert 02067dd5d0 Re-enabled concept checks 2014-12-22 13:51:25 +01:00
dellaert 6ea60745eb Fixed incorrect template argument leading to test failure 2014-12-22 13:13:57 +01:00
dellaert e44dfa5052 Fixed incorrect template argument leading to test failure 2014-12-22 13:07:51 +01:00
dellaert 903e5a3a86 Restored old path, added SLOW_BUT_CORRECT_BETWEENFACTOR ifdef 2014-12-22 13:07:51 +01:00
dellaert 9a22f3a825 Fixed bug in BetweenFactor 2014-12-22 11:25:21 +01:00
dellaert 7f2876f456 Added traits test 2014-12-22 11:25:02 +01:00
dellaert 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
dellaert 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
dellaert bc6af85a9c Fixed issue in debug mode 2014-12-21 22:14:10 +01:00
dellaert 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
dellaert ede01ac6d3 Bugfix ScalarTraits 2014-12-21 22:02:57 +01:00
dellaert 31b2a92b66 Missing header 2014-12-21 22:02:13 +01:00
Mike Bosse c607f48a3c fixed some Point2 constructions 2014-12-21 18:50:01 +01:00
dellaert 88a83fe9e7 re-formatted ScalarTraits while checking correctness (seems correct) 2014-12-21 16:46:20 +01:00
dellaert 505c876588 Small changes, fixed matrices 2014-12-21 15:57:21 +01:00
dellaert be356947ca Agree this should be done, don't agree it should be test failure. 2014-12-21 15:08:34 +01:00
dellaert 25f95ed22f Additional checking 2014-12-21 15:04:29 +01:00
dellaert 7bba8c42e4 Fixed testQuaternion 2014-12-21 14:59:59 +01:00
dellaert 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
dellaert f939723ca4 Two small comments 2014-12-21 13:54:27 +01:00
dellaert a34dae558a Some reformatting, doxygen niceties... 2014-12-21 13:52:36 +01:00
dellaert 3d3d574325 Small refactor 2014-12-21 13:30:21 +01:00
Mike Bosse b7204b100d PoseRTV 2014-12-20 20:22:34 +01:00
Mike Bosse 6e5dbcf2a3 flushing out more compilation errors in tests 2014-12-20 11:54:08 +01:00
krunalchande 6120bf0846 Fixed matrix block index of jacobians in CombinedIMUFactor. 2014-12-19 14:15:14 -05:00
thduynguyen 30afbc5f1d closed-form formula of Pose2's expmap/logmap derivatives 2014-12-19 13:53:08 -05:00
Zhaoyang Lv 02e4f920d0 Merged in fix/matlab_examples_wrapper (pull request #75) 
Fixing bugs in Wrap - re-creating
 2014-12-19 13:04:29 -05:00
krunalchande d7ba38e476 fixed testAHRSFactor in debug mode. 2014-12-19 12:56:41 -05:00
lvzhaoyang 33d53211d3 define insertDouble, missed in merge 2014-12-19 12:12:05 -05:00
dellaert 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
dellaert fac54f87b9 Added Vector1 from develop 2014-12-19 16:18:10 +01:00
dellaert 09a4fb26d5 merge insertFixed into this branch 2014-12-19 15:46:17 +01:00
dellaert 959a002693 Fixed and double versions 2014-12-19 15:40:43 +01:00
Mike Bosse 99d2203617 bit more progress 2014-12-18 22:43:16 +01:00
Mike Bosse 263d4e163c more progress, need to fix testSO3.cpp and testManifold.cpp 2014-12-17 22:53:56 +01:00
Mike Bosse 121ae9f575 temporary disable of some concept checks 2014-12-17 21:49:36 +01:00
Mike Bosse 98c5189392 stub jacobians for point2 and point3 2014-12-17 21:18:23 +01:00
thduynguyen 662eb77a88 use I_3x3 and Matrix3 2014-12-17 11:24:22 -05:00
Mike Bosse e17baac774 more progress 2014-12-17 17:06:24 +01:00
Mike Bosse a41d172618 more fixing of Lie* 2014-12-16 19:22:01 +01:00
thduynguyen 1694a56194 remove lpsolve 2014-12-16 11:28:20 -05:00
thduynguyen b39d14872a remove lpsolve 2014-12-16 11:27:20 -05:00
Paul Furgale 37fc86b595 More slow progress. Added a variable-size specialization for OptionalJacobian 2014-12-16 12:30:11 +01:00
Mike Bosse e9ae4f3c4d stuck since LieMatrix uses dynamic matrices and hence not compatible with traits 2014-12-16 01:28:02 +01:00
Mike Bosse 3dc9a7c852 group_flavor in internal::LieGroup template 2014-12-15 23:48:30 +01:00
Mike Bosse 79ea949df9 added placeholder for needed numerical derivative test 2014-12-15 23:29:59 +01:00
Mike Bosse 30b21503b3 fixed size matrices for numerical derivatives 2014-12-15 16:11:28 +01:00
Paul Furgale a8bd7281f3 Moving away from fixed-size matrices 2014-12-15 15:00:48 +01:00
Paul Furgale cb7fb21add Fixed the Eigen::Map compilation error 2014-12-15 11:13:42 +01:00
Mike Bosse 0857c1069c traits for eigen matrices 2014-12-14 23:24:19 +01:00
Paul Furgale 0706caf173 Latest edits...started on Eigen types 2014-12-14 20:28:25 +01:00
Paul Furgale c0e4f76d94 More manifolds...more numerical differentiation...more. 2014-12-14 18:59:57 +01:00
Paul Furgale da4c44e12d More progress 2014-12-14 15:26:43 +01:00
Paul Furgale 679c3fbd07 Even more slow progress 2014-12-14 14:02:27 +01:00
Paul Furgale 7f7c181945 Replaced ChartValue with GenericValue. Now at the point where we are bumping up against missing Jacobians in gtsam types. It feels like progress. 2014-12-14 12:13:59 +01:00
dellaert 4542292af9 Fixed version of at 2014-12-13 22:07:07 +00:00
Sungtae An d64af0d626 Modify gradientAtZero in RegularJacobianFactor 2014-12-13 17:02:38 -05:00
Paul Furgale 6b04fee048 Changed some lie groups to manifolds 2014-12-13 22:26:49 +01:00
Paul Furgale 58cb47a3f0 Started converting types. Into the ChartValue now. 2014-12-13 22:20:59 +01:00
Paul Furgale 959716ae92 A lot more progress making things work. Still a long way to go. 2014-12-13 12:47:52 +01:00
thduynguyen 2673e1664c reapply a bug fix in isConstrained when no model exists 2014-12-13 01:05:24 -05:00
thduynguyen 18481f21d0 disable SLOW_BUT_CORRECT_EXPMAP to make test passed 2014-12-12 22:08:33 -05:00
thduynguyen 0576aac69b remove support for special EliminatePreferCholesky to deal with Indeterminant exception arising from multiplied Hessian terms of nonlinear equality constraints. 2014-12-12 22:08:09 -05:00
Luca 975ee1caa5 merged with develop 2014-12-12 19:41:49 -05:00
krunalchande da318184ae sync with develop branch commit c1f048d 2014-12-12 18:46:54 -05:00
krunalchande 9df5ce9732 Removed Eigen dox file not in develop. 2014-12-12 18:06:28 -05:00
krunalchande 71a34058c4 Upgrade to latest Eigen in develop. 2014-12-12 18:03:49 -05:00
krunalchande e539738fd0 Remove support for dual keys. Added finished() after all matrices and vectors. Remove buildDualGraph from GaussianFactorGraph. Remove support for multipliedHessians for non-linear equality constraints. 2014-12-12 17:23:31 -05:00
krunalchande 181bfb4f0f Added support for compiling lpsolve on linux. Windows not tested 2014-12-12 17:21:07 -05:00
thduynguyen e12add2739 Merged in develop (pull request #71). Resolve conflicts. 2014-12-12 15:34:53 -05:00
Mike Bosse 94c2490b6f minor 2014-12-12 21:31:00 +01:00
Mike Bosse df8dc1f99c fixing little things... far from done 2014-12-12 21:12:17 +01:00
Paul Furgale d383b44cc6 Trying to make everything compile for a smooth transition 2014-12-12 20:13:35 +01:00
Paul Furgale 02ceb1366b Progress on compilation 2014-12-12 17:02:15 +01:00
Paul Furgale 91efa7f2a1 Added convenience traits wrapper for internal gtsam types 2014-12-12 16:42:33 +01:00
Mike Bosse d94c8c72b8 cyclic trait refactored 2014-12-12 14:51:16 +01:00
Mike Bosse edb1bbaa7b quaternion trait refactored 2014-12-12 14:18:39 +01:00
dellaert 3238c59a39 Fixed printing 2014-12-12 13:56:50 +01:00
dellaert c1f464625b Provided (some) printing functionality 2014-12-12 12:39:32 +01:00
Mike Bosse cc9ab9c6ed starting transition to kitchen sink trait class 2014-12-12 11:43:54 +01:00
dellaert 012827dc98 Unfortunately, Method typedefs do not work for non-class types. 2014-12-12 10:55:36 +01:00
Luca c4bd02c3fa split of measurement covariance into diagonal blocks. 2014-12-11 19:54:42 -05:00
Luca d9a7f516ef making test more complicated 2014-12-11 19:34:20 -05:00
Luca dcc028518f added unit test and removed approximation in covariance propagation 2014-12-11 15:46:33 -05:00
Luca 295fd7385a minor renaming 2014-12-11 12:20:54 -05:00
Luca af04b834b9 using fixed-size matrix/vector when possible 2014-12-11 11:28:43 -05:00
Luca c4fafd9268 added unit test, improved computation 2014-12-11 11:06:47 -05:00
Sungtae An c1f048dc42 Merged in featrue/fixPCG (pull request #67) 
Fixed PCG solver
 2014-12-11 10:36:47 -05:00
Paul Furgale 409214e165 Updated documentation 2014-12-11 16:28:32 +01:00
dellaert 96d4ae7eb1 Removed LieScalar 2014-12-11 13:18:52 +01:00
dellaert 88b4795b29 Made some more typedefs, added binary method 2014-12-11 13:18:38 +01:00
Paul Furgale 79086327a6 Making things in sync 2014-12-11 12:54:48 +01:00
Mike Bosse 376dec5103 cleaned up a bit; but not really working yet. Trouble with partial specialization of lie_group::expmap<Quaternion<> >() 2014-12-11 03:15:45 +01:00
Luca 9dbca87c86 fixed evaluate error to compy with additive Gaussian noise model. Still to be optimized, but unit tests pass :-) 2014-12-10 20:51:26 -05:00
Luca 1dfd9d2ae7 cleaned up unit test 2014-12-10 16:56:31 -05:00
Luca 36358308fd minor code optimization in ExpmapDerivative 2014-12-10 16:56:21 -05:00
Luca b3f0f3877c capitalized ExpmapDerivative and LogmapDerivative 2014-12-10 16:16:29 -05:00
dellaert 22218eafc4 We will not wrap fixed Vectors and Matrices individually. Methods that take those can just as well be wrapped with Vector or Matrix. Note const and & are ignored for those. I added a small method, insertFixed, that allows one to put in small fixed size matrices for optimization. Did not do retrieval yet. 2014-12-10 10:45:22 +01:00
Sungtae An e9b0f7b98f Change Cholesky decomposed matrix from 'Upper' to 'Lower' in order to avoid confusion. 2014-12-10 02:55:40 -05:00
Luca 57d83be48a matrix definition on same line 2014-12-09 19:05:14 -05:00
Luca b96a463b10 ok, fixed updatePreintegratedMeasurements with optionalJacobian 2014-12-09 18:32:38 -05:00
Luca d809a952df started to include optionalJacobian: compiles after merge to develop and all unit tests pass 2014-12-09 18:03:54 -05:00
Luca bf8de1341b Merge branch 'develop' 2014-12-09 17:13:30 -05:00
Luca e82b815a48 renamed right jacobian of expmap and logmap (removed "right", according to Frank's suggestion :-) 2014-12-09 17:10:04 -05:00
Luca 1e8402231c applied (to some extend) the naming convention proposed by Frank 2014-12-09 16:59:30 -05:00
Luca b593a6a2d5 removing redundant lines and using jacobian computation from base class 2014-12-09 16:41:29 -05:00
Luca 5f17e1fb98 fixed noise propagation. Luca&Christian: insight is that preintegration noise acts on rotations as R * expmap(noise), while before it was expmap( logmap(R) + noise) 2014-12-09 16:34:43 -05:00
Luca 013c8a4cef added extra test on covariance propagation 2014-12-09 16:05:39 -05:00
Luca d22868d524 removed multiple definitions of trivial matrices (eye,zero) 2014-12-09 15:55:24 -05:00
Luca 2c1d72e7d7 tested Jacobians computation (G) for combined IMU factor 2014-12-09 15:50:41 -05:00
Luca 53b59bf488 added truth revealing unit test for Combined Imu factor (and fixed latest changes, that, moving updatePreintegratedMeasurements before, were creating a bug) 2014-12-09 15:17:26 -05:00
Andrew Melim 90676199dd Adding comment relating to issue and move around fix preprocessor locations 2014-12-09 11:49:13 -05:00
Andrew Melim 3bd491bf66 Merge branch 'develop' into fix/windowsExpressions 2014-12-09 11:04:30 -05:00
Andrew Melim 701dcc1c99 Correcting VLA issue, and add template specification for between Pose2 objects. More template specifcations will be needed on windows, unless another fix is found 2014-12-08 21:39:12 -05:00
Andrew Melim fdc1d50801 Added comment 2014-12-08 20:48:36 -05:00
Andrew Melim 4f6ed03803 Fix missing symbol exports for windows 2014-12-08 20:45:24 -05:00
Luca 64dfde3ae6 in the process of adding tests for the combined imu factor (not there yet) 2014-12-08 20:28:28 -05:00
Andrew Melim 92f1f33818 Preprocessor warning does not work on windows. Use pragma message instead 2014-12-08 20:24:00 -05:00
Luca b126d98609 included suggestions from Frank 2014-12-08 20:20:03 -05:00
dellaert 21b97ddedf Removed obsolete methods (but link error!) 2014-12-09 01:04:21 +01:00
dellaert 449ba1f37a LieGroupChart makes use of Exponential map (and its inverse) around identity 2014-12-09 00:52:53 +01:00
Luca dc13912ce2 moved jacobian computation to updateMeasurement functions, and fixed noise propagation. Luca&Christian: insight is that preintegration noise acts on rotations as R * expmap(noise), while before it was expmap( logmap(R) + noise) 2014-12-08 18:41:39 -05:00
Luca 02f92e4e04 included Jacobian of logmap in quaternion mode 2014-12-08 18:39:47 -05:00
dellaert 3077d03568 Header should also be included in non-quaternion mode 2014-12-09 00:11:28 +01:00
dellaert 8fcf9d9866 SO(3) is a *Matrix* Lie group. This is it. Rot3 will inherit from this *or* Quaternion. 2014-12-09 00:11:28 +01:00
dellaert 118d561e96 Created GTSAM_GROUP_IDENTITY as it handles templates differently 2014-12-09 00:11:28 +01:00
Sungtae An c5b4d731cc Correct Yond-Dian's name 2014-12-08 18:03:40 -05:00
Luca 54ee973309 changed naming in comments about expmap & logmap jacobians 2014-12-08 16:27:57 -05:00
Luca f991c1a398 getting rid of rightJacobianSO3 (not completed yet) 2014-12-08 13:15:51 -05:00
Luca 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
Luca d5d7594888 deleted hard-coded function from IMU unit test 2014-12-08 12:31:02 -05:00