Frank Dellaert
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5163684077
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norm
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2010-01-12 02:09:03 +00:00 |
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Frank Dellaert
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1aed18717b
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combined evaluation and derivatives
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2010-01-12 02:08:41 +00:00 |
Richard Roberts
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2c8d8dbde4
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NonlinearOptimizer constructor now requires shared_ptr to prevent storing pointers to stack and temporary variables. Code that uses it will need to be modified, but CitySLAM is already done.
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2010-01-11 20:17:28 +00:00 |
Kai Ni
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40889e8f50
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added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions
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2010-01-11 08:32:59 +00:00 |
Manohar Paluri
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1b53a240b9
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removed prints
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2010-01-11 01:09:07 +00:00 |
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Frank Dellaert
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e9b0bade03
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Access to keys
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2010-01-11 00:53:53 +00:00 |
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Frank Dellaert
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71fe372fb3
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test successive iterates
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2010-01-11 00:53:43 +00:00 |
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Richard Roberts
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aa2aa4149c
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Special case for trace==1 in Rot3 logmap
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2010-01-10 23:36:37 +00:00 |
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Richard Roberts
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b0fd5396ad
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Bug fix in Rot3 for logmap(identity)
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2010-01-10 22:58:30 +00:00 |
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Richard Roberts
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1dcc864d97
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Comment cleanup to /** style and adding global print functions
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2010-01-10 22:41:23 +00:00 |
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Kai Ni
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78a579a24a
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add the missing #pragma once
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2010-01-10 22:15:34 +00:00 |
Viorela Ila
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f8be2c2626
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dim, expmap, logmap works
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2010-01-10 21:53:38 +00:00 |
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Frank Dellaert
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64eca2d550
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addConstraint
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2010-01-10 19:25:19 +00:00 |
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Frank Dellaert
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d11b2e6bd5
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Added omitted headers
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2010-01-10 18:37:55 +00:00 |
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Richard Roberts
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88ae5380a8
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Removed Vector-specific versions of NumericalDerivative, instead Vector is now a Lie object
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2010-01-10 18:23:47 +00:00 |
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Frank Dellaert
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1a96ef41cf
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Created Pose3Config, Pose3Graph, and tested loop closure optimization.
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2010-01-10 18:21:20 +00:00 |
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Frank Dellaert
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2fe02dbaa7
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Moved optimization tests to testPose2Graph
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2010-01-10 18:20:10 +00:00 |
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Richard Roberts
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edb68b3b60
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Fixed typo in LieConfig expmap(Vector)
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2010-01-10 17:48:55 +00:00 |
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Richard Roberts
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33ba34a1f6
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Minimized headers included in Lie.h, removed print from testLieConfig
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2010-01-10 17:26:44 +00:00 |
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Frank Dellaert
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8d84078036
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Loop closure tested
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2010-01-10 17:02:49 +00:00 |
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Frank Dellaert
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12caabb667
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Method to add a factor without having to do shared factor dance
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2010-01-10 17:02:35 +00:00 |
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Frank Dellaert
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120f1301c2
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operator[]
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2010-01-10 17:01:48 +00:00 |
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Frank Dellaert
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710bce5cc4
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Pose2Config is now simply a typedef (note that for linking specific template instantiations were needed).
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2010-01-10 16:17:55 +00:00 |
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Frank Dellaert
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4a21fb9387
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Fixed 2nd expmap template, which now creates a VectorConfig and calls the first template
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2010-01-10 16:16:03 +00:00 |
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Frank Dellaert
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65e4dc1342
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pose2Circle
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2010-01-10 15:46:18 +00:00 |
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Frank Dellaert
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43b2facd10
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Now Pose3Config == LieConfig
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2010-01-10 14:59:39 +00:00 |
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Frank Dellaert
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92c58e50a1
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Small changes, mainly const correctness
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2010-01-10 14:59:22 +00:00 |
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Frank Dellaert
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c957672656
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Small to change to work well with LieConfig
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2010-01-10 14:55:19 +00:00 |
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Frank Dellaert
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794ffd3b2f
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Fixed significant bug in Pose2Factor, where we forgot to multiply the error with the square root inverse covariance.
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2010-01-10 13:55:55 +00:00 |
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Frank Dellaert
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8061f29ec5
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added test clarifying Ax-b \approx h(x)-z
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2010-01-10 13:54:34 +00:00 |
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Frank Dellaert
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f1f21a8589
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inverted sign of square root to make inv sqrt positive for simple covariance matrices
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2010-01-10 13:53:31 +00:00 |
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Frank Dellaert
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bf315781af
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defined global functions in Lie.h rather than here
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2010-01-10 12:35:41 +00:00 |
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Frank Dellaert
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6bcb9d08d6
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Unit tests for correct "Agrawal06iros" versions: they are indeed correct.
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2010-01-10 12:26:31 +00:00 |
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Frank Dellaert
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30367e35fb
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Much faster compund rotation using Justin's (indeed correct) formula
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2010-01-10 12:25:46 +00:00 |
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Frank Dellaert
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d5eade62ef
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Moved expmap and logmap to .cpp, also tested correct "Agrawal06iros" versions, and they are indeed correct (see testPose3).
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2010-01-10 12:24:31 +00:00 |
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Frank Dellaert
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ec1b57ed08
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Added Lie required functions (trivial) for Vector. Not in Vector.h as this becomes circular.
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2010-01-10 12:22:59 +00:00 |
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Richard Roberts
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4fa53a1f79
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Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function.
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2010-01-10 06:35:16 +00:00 |
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Kai Ni
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6a7987fa91
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fix Pose2Prior problem and adding prior factor when splitting factor graph
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2010-01-09 23:39:11 +00:00 |
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Richard Roberts
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2b82ff65e7
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Deriving Lie objects from a base class Lie<T>, which provides member functions to access global functions, for use in MATLAB.
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2010-01-09 23:15:06 +00:00 |
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Kai Ni
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d015b31799
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more meaningful error messages for matrix operations
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2010-01-09 07:06:29 +00:00 |
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Frank Dellaert
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cc358fb2ce
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removed print statements
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2010-01-09 02:37:58 +00:00 |
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Frank Dellaert
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5fbb820341
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fixed comments and tolerances
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2010-01-09 02:27:49 +00:00 |
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Frank Dellaert
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6851b31fad
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Added static methods to construct rotations, coded up convention for yaw-pitch-roll, modernized RQ
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2010-01-09 00:03:47 +00:00 |
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Kai Ni
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d4f92c7bb6
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pass FactorGraph as reference into split
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2010-01-08 20:27:10 +00:00 |
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Kai Ni
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06b7f8ee04
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add split to FactorGraph
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2010-01-08 19:07:46 +00:00 |
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Frank Dellaert
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5dc237eeea
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BetweenFactor is a template that models the measurement between two Lie types e.g. Pose2 or Pose3. Pose2Factor and Pose3Factor are now simply typedefs.
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2010-01-08 15:32:45 +00:00 |
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Kai Ni
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e5fe4a69f7
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change no. of build processes in eclipse to 2
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2010-01-08 07:51:29 +00:00 |
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Kai Ni
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215ff24d0f
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generate ordering by breadth-first-search, a lot faster than before
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2010-01-08 04:12:23 +00:00 |
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Frank Dellaert
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8d22b3aca2
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Just refactoring
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2010-01-08 03:38:05 +00:00 |
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Frank Dellaert
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f684becf1f
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Fixed Dbetween1
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2010-01-08 03:06:03 +00:00 |