3247751b5d
Major check-in: there are now two interchangeable implementations of VectorConfig.
...
VectorMap uses a straightforward stl::map of Vectors. It has O(log n)
insert and access, and is fairly fast at both. However, it has high overhead
for arithmetic operations such as +, scale, axpy etc...
VectorBTree uses a functional BTree as a way to access SubVectors
in an ordinary Vector. Inserting is O(n) and much slower, but accessing,
is O(log n) and might be a bit slower than VectorMap. Arithmetic operations
are blindingly fast, however. The cost is it is not as KISS as VectorMap.
Access to vectors is now exclusively via operator[]
Vector access in VectorMap is via a Vector reference
Vector access in VectorBtree is via the SubVector type (see Vector.h)
Feb 16 2010: FD: I made VectorMap the default, because I decided to try
and speed up conjugate gradients by using Sparse FactorGraphs all the way.
2010-02-17 03:29:12 +00:00
b82d054aaa
Definitions of Lie::between, Pose2::compose, expmap, and derivatives were not correct. Fixed, but changes some behavior (iSAM and CitySLAM already fixed), will send email about this change.
2010-01-26 20:00:17 +00:00
3c9c8bcfe5
Pose2Prior is now a typedef, improved some derivatives
2010-01-16 16:46:57 +00:00
a956c1a8be
svn restored from 1733.
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this commit updates gtsam to version 1774, which now appears as 1734.
2010-01-16 01:16:59 +00:00
4b459c45c3
return identity
2010-01-12 02:09:43 +00:00
d5eade62ef
Moved expmap and logmap to .cpp, also tested correct "Agrawal06iros" versions, and they are indeed correct (see testPose3).
2010-01-10 12:24:31 +00:00
2b82ff65e7
Deriving Lie objects from a base class Lie<T>, which provides member functions to access global functions, for use in MATLAB.
2010-01-09 23:15:06 +00:00
6851b31fad
Added static methods to construct rotations, coded up convention for yaw-pitch-roll, modernized RQ
2010-01-09 00:03:47 +00:00
8d22b3aca2
Just refactoring
2010-01-08 03:38:05 +00:00
f684becf1f
Fixed Dbetween1
2010-01-08 03:06:03 +00:00
19a3e228d7
Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes.
2010-01-08 00:40:17 +00:00
f77da96caf
Modernized and tested RQ and added Rot3::ypr. Note this yaw-pitch-roll is different from ML version, which is focused on cameras. Let the fun begin...
2010-01-06 15:52:43 +00:00
ac72d1cc22
renamed transformPose_to to transform_to, composeTransform to compose, and changed nr. of arguments of Dtransform_to2 (to two)
2009-12-18 05:36:53 +00:00
c9bd327961
formatting
2009-12-18 05:14:08 +00:00
d61d92c0e7
UrbanGraph class and testUrbanGraph TODOs
2009-12-17 21:23:50 +00:00
11f0d04cb6
made all classes that currently have an assert_equal "Testable"
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- derive from testable as in class Point2 : Testable<Point2>
- moved print and equal declarations in .h right after the constructor
- similarly, moved implementations after constructors in .cpp file
- removed obsolete assert_equal
2009-10-26 19:26:51 +00:00
34c1bb6f29
Small comment on exmap correctness
2009-10-06 18:02:33 +00:00
d5dc9ab9d1
Composition is faster, composeTransform is trivial (and should probably go)
2009-09-14 04:38:17 +00:00
34d80b6a2b
moved some implementations to cpp to avoid some weird conflict involving stack
2009-08-30 04:51:46 +00:00
5eb9a4d182
More efficient transform_to using unrotate
2009-08-29 04:10:52 +00:00
6a3d64c896
Added const verifiers for member functions of the class which are compatible
2009-08-26 18:04:52 +00:00
d80fa24a9f
Fixing directory structure
2009-08-21 22:23:24 +00:00
Frank Dellaert
Richard Roberts
Chris Beall
Viorela Ila
Brian Law
Manohar Paluri