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3848 Commits (444c28aeab7c5b9080b3d4622ba0af2e2f0cfa01)

Author SHA1 Message Date
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
Chris Beall fbcb9a4d67 Fix intermittent optimization crash in Debug+TBB modes, exposed by testGeneralSFMFactor, etc. 2014-12-08 10:59:49 -05:00
dellaert 9dc3d28bf2 Now Rot3 uses QuaternionChart Expmap/Logmap in quaternion mode 2014-12-08 13:16:30 +01:00
dellaert 8cbab779b3 Slight refactor 2014-12-08 13:16:30 +01:00
dellaert ccd843040e Small change in file that might disappear anyway 2014-12-08 13:16:30 +01:00
Sungtae An 0a1e844ae5 Clean up 2014-12-08 00:44:36 -05:00
Sungtae An f6dd14126d Revert commits related with fixing PCG (reverted from commit 1f827fae43) 2014-12-07 18:26:09 -05:00
Luca 2730dab4c6 made test more serious and easy to understand 2014-12-07 15:04:10 -05:00
dellaert fd59783fae Forgot to check in how to use macros... 2014-12-07 21:03:54 +01:00
Luca ab54ca1697 addressed some of Frank's comments 2014-12-07 15:03:48 -05:00
Luca aee20d669d removed useless comments, added other comments 2014-12-07 13:58:13 -05:00
cbeall3 cd35db218b Minor cleanup 2014-12-07 13:58:06 -05:00
cbeall3 b58064ce43 Stereo calibration can now be optimized 2014-12-07 13:58:06 -05:00
dellaert 949a6b7f4c Found solution for template arguments in macros. Requires a bit more from caller, but is better. I quite like the MACROS: It's compact... 2014-12-07 19:55:06 +01:00
cbeall3 971a53cfb5 Fixed size vectors for all Logmap, localcoordinates and vector methods 2014-12-07 13:51:17 -05:00
dellaert 04d3457b45 First working Manifold macro 2014-12-07 19:30:46 +01:00
Luca 6d571ca6b9 truth revealing unit test :-) re-established good functioning of IMU factor (TODO: fix CombinedImuFactor F & G) 2014-12-07 13:14:45 -05:00
dellaert 62ae58e7ea Quaternion header 2014-12-07 19:13:02 +01:00
dellaert 10ae9f5505 Easier to read with Cyclic<3> 2014-12-07 18:55:49 +01:00
dellaert 481be10509 A bit more compact 2014-12-07 18:55:33 +01:00
dellaert 9194b92cf6 Now work with MACROS instead - but get linking error. Upside (if we can fix that): uniform treatment between foreign types (see Quaternion) and GTSAM types (Cyclic). Downside: seems I had to create a different macro for different number of template arguments. Help? 2014-12-07 18:41:18 +01:00
cbeall3 bfd40014a2 comma initialization 2014-12-07 12:38:36 -05:00
dellaert 38a0842090 Macros. Too ugly? 2014-12-07 18:01:30 +01:00
dellaert 19c38b91ee Finish CRTP in Cyclic 2014-12-07 15:59:31 +01:00
dellaert ef58a8a56a Attempt at satisfying Group concept by deriving from base class. Needs to be fixed, also, test does not link :-( 2014-12-07 13:24:59 +01:00
dellaert 022e930085 Fixed typo 2014-12-07 13:23:59 +01:00
dellaert cdc0029158 Reverted on Chart base class. But no chart-specific traits needed, as assumed created by us. 2014-12-07 13:01:25 +01:00
dellaert a31e596448 Working local/Logmap (taken from Rot3Q) 2014-12-07 12:47:26 +01:00
dellaert 36da8702f9 Retract works 2014-12-07 12:35:17 +01:00
dellaert 8db8cb54b0 Some chart refinement (early check does not work) 2014-12-07 12:35:05 +01:00
dellaert e2f250c160 Added Manifold, Lie Group, and Vector Space concepts back in 2014-12-07 11:52:09 +01:00
dellaert 01aab77504 Made Testable a boost concept 2014-12-07 11:51:40 +01:00
dellaert 187760ce95 Refactor for readability 2014-12-07 10:20:54 +01:00
dellaert 3a6b89e840 Now all Eigen::Quaternion flavors are certified as IsGroup 2014-12-07 10:19:38 +01:00
dellaert 06640cc414 New naming convention for concept (IsGroup), moved invariant checking out to namespace 2014-12-07 09:48:31 +01:00
Luca 792d2656d0 using cross product instead of skewSymm matrix in predict 2014-12-06 19:13:02 -05:00
Luca d46224e8a1 added const and changed name in updatePreintegratedMeasurements to "omegaCoriolisHat" to comply with notation in "predict" 2014-12-06 19:04:41 -05:00
krunalchande 943a18b124 Fixed confusion in naming. 2014-12-06 17:42:07 -05:00
dellaert e1c1d788c0 Quaternions are a group (test compiles, at least) 2014-12-06 18:01:13 +01:00
dellaert 491fd91af6 Fixed compile problem. 2014-12-06 14:28:39 +01:00
dellaert 614bfeb9d3 Moved to headers 2014-12-06 13:11:56 +01:00
dellaert 4d2a0aefc1 Group checks out ! 2014-12-06 12:59:35 +01:00
dellaert 6c2b28aa8b between tested 2014-12-06 12:50:40 +01:00
dellaert 5407232e36 between and inverse, as well as tag dispatching 2014-12-06 11:51:44 +01:00
dellaert ddeb764912 group::traits, and group::compose 2014-12-06 11:37:14 +01:00
dellaert 07ef30039a structure_tag works 2014-12-06 11:17:54 +01:00
dellaert 71e77b8c87 Compiles 2014-12-06 10:58:16 +01:00
dellaert 6f82458bee Trying to firm things up by having a small unit test for cyclic groups. 2014-12-06 10:17:35 +01:00
dellaert 0ea2e5efe4 Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits 2014-12-06 09:20:13 +01:00
dellaert 468aa5d6b6 Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives 2014-12-05 22:23:12 +01:00
nsrinivasan7 a5877a96b8 @dellaert. Works with quaternion switch on in gcc 4.7, 4.8 and MSVC 2012. Pls Merge if compiles on MAC 2014-12-05 16:01:10 -05:00
Sungtae An 47396871a3 Slightly modify some comments 2014-12-05 15:43:26 -05:00
Sungtae An 1c9a1f7cdb Add the citation of the reference. 2014-12-05 15:33:22 -05:00
Natesh Srinivasan f5db91a56f works on gcc 4.8 2014-12-05 11:08:13 -05:00
dellaert 4e6534eff7 Tried to harmonize AHRS and IMU handling of coriolis term (but they are inconsistent) 2014-12-05 13:52:51 +01:00
dellaert aa93475b3d Moved two very large methods from ImuFactorBase to PreintegrationBase 2014-12-05 13:24:03 +01:00
dellaert 8bfe4d75fb Possibly controversial (sorry @lucacarlone ) name change to make it easier to see copy/paste patterns. 2014-12-05 12:36:14 +01:00
dellaert ac8e4d2536 Made PreintegratedRotation a base class of PreintegrationBase 2014-12-05 12:17:08 +01:00
dellaert 507979c526 PreintegratedRotation works for AHRS 2014-12-05 12:12:54 +01:00
dellaert 37e6b796ec Slightly edited and re-formatted comments 2014-12-05 09:29:00 +01:00
Sungtae An cfb82d9a96 Modify some comments 2014-12-04 23:30:17 -05:00
Sungtae An 55b8ecf8fa Removed the commented old version of Yong-Dian's code for getb 2014-12-04 23:29:12 -05:00
Sungtae An 4777c029ac Remove temporary testable functions (getBuffer and getBufferSize) 2014-12-04 22:32:07 -05:00
Sungtae An 60f43c7a4b Fix a bug in getb and replace it with negated values of gradientAtZero. Add some comments about a bug. 2014-12-04 22:08:26 -05:00
Luca 83d84bcc29 removed last redundancy between error computation and predict 2014-12-04 16:56:55 -05:00
Luca c1d63b77ff added comments, made more elegant error evaluation for CombinedImuFactor 2014-12-04 16:35:40 -05:00
Luca 30810e2917 moved error and jacobian computation to base class 2014-12-04 16:18:33 -05:00
Frank Dellaert 4e5fe7bae2 Merged in fix/deprecateLieVectorEtAl (pull request #62) 
Deprecated LieVector, LieMatrix, LieScalar
 2014-12-04 22:18:01 +01:00
Mike Bosse b5e3c8816d added vector space concept check, but not sure it will work... 2014-12-04 22:15:20 +01:00
dellaert 96016edf85 Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives 
Conflicts:
	.cproject
 2014-12-04 21:07:34 +01:00
Luca 95baccb3b4 moved error and jacobian computation for ImuFactor to base class 2014-12-04 12:44:14 -05:00
cbeall3 30c4092d80 Move AdaptAutodiff and test to close issue #142 2014-12-04 12:15:53 -05:00
Luca 9f7fbdc530 fixed unit tests 2014-12-04 12:14:37 -05:00
Luca 7b43d5c943 fixed naming convention 2014-12-04 12:10:40 -05:00
Luca 7a9a8dd9d6 moved prediction to base class 2014-12-04 12:09:13 -05:00
Luca 1992cb27ba added ImuFactorBase. In the process of moving stuff to base class 2014-12-04 11:51:31 -05:00
Luca 523ebb7b6f moved TriangulationFactor to slam folder 2014-12-04 11:18:26 -05:00
Mike Bosse 2fa9d0f557 LieGroup concept and flushing out more tags 2014-12-04 15:57:41 +01:00
nsrinivasan7 bd6f210b87 changed << to =. gives error because range() was removed from PinholeCamera.h ? 2014-12-04 09:36:00 -05:00
Mike Bosse 56787e1a88 addressed review comments 2014-12-04 15:26:01 +01:00
dellaert f7ebe4bfc4 Fixed RangeFactor 2014-12-04 14:08:46 +01:00
dellaert add93f19a6 Rename and reformat 2014-12-04 13:51:51 +01:00
dellaert fa66762394 omitted extra typedef 2014-12-04 13:51:40 +01:00
dellaert e6877dc27f All MatrixMN matrices now defined 2014-12-04 13:30:41 +01:00
dellaert 4b2040fec6 Fixed smart factors - but @lucacarlone should realize stereo-calibration cannot be optimized, so how come he is calling project with H3 ? 2014-12-04 13:29:56 +01:00
Mike Bosse eda6bf5ffe minor 2014-12-04 13:18:34 +01:00
Mike Bosse 978c17ceb6 group concept operator usage with tags 2014-12-04 13:11:45 +01:00
Mike Bosse b6576d7e27 added group concept check 2014-12-04 13:10:50 +01:00
dellaert fcfd232639 Added tests, everything checks out 2014-12-04 12:28:12 +01:00
Mike Bosse c225ee223c figureing out concept checks (not done yet!!) 2014-12-04 11:27:25 +01:00
dellaert cc96529eb6 Sanitized Matrix typedefs and constants a la Eigen 2014-12-04 10:41:09 +01:00
dellaert 354de17fd7 Fixed range 2014-12-04 09:38:28 +01:00
cbeall3 62ca5c23ee CMake to install headers 2014-12-03 23:20:29 -05:00
cbeall3 003e7a06ab 3rdparty/ceres include paths 2014-12-03 23:11:54 -05:00
cbeall3 cbaf96e28c Move and rename ceres headers 2014-12-03 23:07:26 -05:00
dellaert 52c4771bcb Sanitized dimensions. Does not compile because of range. 2014-12-04 01:38:45 +01:00
Luca b9e96e4c6f added ImuBase class 2014-12-03 19:35:21 -05:00
Luca 7dd359ce5d fixed naming convention 2014-12-03 19:09:04 -05:00
Luca 218af7c889 included methods in the base class to reduce redundancy between ImuFactor and CombinedImuFactor 2014-12-03 18:58:20 -05:00
Luca c4b62929bf fixed potential bug when IMU-to-body trasformation is not the identity 2014-12-03 18:42:44 -05:00
Luca 6b56b609f2 added base class for preintegration in Imu factors 2014-12-03 18:28:15 -05:00