dellaert
|
1229ca6fee
|
OptionalJacobians
|
2015-07-19 21:24:17 -07:00 |
|
dellaert
|
13cca7be00
|
MakeParams
|
2015-07-19 21:23:16 -07:00 |
Frank Dellaert
|
2deac4b88f
|
Some fixed-size optimizations, some const. Save a quaternion->matrix conversion in transform_from.
|
2015-07-19 18:54:59 -07:00 |
|
Frank Dellaert
|
c3dfa3ab10
|
Cleaned up Pose2 derivatives and used OptionalJacobian::cols in some places
|
2015-07-19 18:28:18 -07:00 |
|
Frank Dellaert
|
f2df547d86
|
Functioning "cols" method. Unfortunately, "rows" and "block" are not easy.
|
2015-07-19 17:15:26 -07:00 |
|
dellaert
|
d4d99c390d
|
A custom retract does the trick
|
2015-07-19 03:31:11 -07:00 |
|
dellaert
|
f32a7cbd00
|
Parsed out tangent space operations
|
2015-07-19 02:54:28 -07:00 |
|
dellaert
|
9382641445
|
Use constants, slight renaming
|
2015-07-19 01:52:53 -07:00 |
|
dellaert
|
7b02a01a44
|
Simplified deprecated methods
|
2015-07-19 01:52:23 -07:00 |
|
dellaert
|
042d874f08
|
Introduce and use NavState for predict
|
2015-07-19 01:52:08 -07:00 |
|
dellaert
|
3c59168406
|
Inlined Logmap and derivatives, removed from PreintegratedRotation
|
2015-07-19 00:54:25 -07:00 |
|
dellaert
|
814b8c22bf
|
Moved a derivative down
|
2015-07-19 00:40:42 -07:00 |
|
dellaert
|
c72a8344ec
|
Added derivatives where they should be...
|
2015-07-19 00:40:07 -07:00 |
|
dellaert
|
272a563022
|
expmap/logmap derivatives
|
2015-07-19 00:39:47 -07:00 |
|
Frank Dellaert
|
0df1e345a3
|
Complete refactor with a shared parameter to fixed parameters. Tests still use old-style and all pass, because of hacky backwards compatible functions.
|
2015-07-18 18:30:42 -07:00 |
|
Frank Dellaert
|
45e99f05b6
|
Fixed test
|
2015-07-18 18:28:39 -07:00 |
|
dellaert
|
d5bf2493fe
|
Fixed remaining method call
|
2015-07-17 16:57:16 -07:00 |
|
dellaert
|
55269d642c
|
Fixed order of components in error to match RTV order
|
2015-07-17 15:34:58 -07:00 |
|
dellaert
|
61c58c6fa6
|
Fixed naming convention
|
2015-07-17 15:33:20 -07:00 |
|
dellaert
|
fd0ad8ae78
|
Removed some useles computation
|
2015-07-17 15:32:58 -07:00 |
|
dellaert
|
52baa97eca
|
Some fixed-size matrix optimizations
|
2015-07-17 12:00:03 -07:00 |
|
dellaert
|
2d425ad7be
|
More substantial jacobian refactor
|
2015-07-17 01:27:07 -07:00 |
|
dellaert
|
66a9c34840
|
Clean up jacobians a bit
|
2015-07-17 01:14:44 -07:00 |
|
dellaert
|
d45d2e17ed
|
inline transpose
|
2015-07-17 01:07:15 -07:00 |
|
dellaert
|
8ff4c98337
|
Rationalize predict
|
2015-07-17 00:52:47 -07:00 |
|
dellaert
|
d1271fd9d5
|
Fixed product retract/localCoordinates and corresponding tests
|
2015-07-16 23:48:56 -07:00 |
|
dellaert
|
233fe13e60
|
No more static Local/Retract
|
2015-07-16 23:47:57 -07:00 |
|
dellaert
|
f5c8b07f66
|
ChartOrigin is only meant to generate a Lie group class
|
2015-07-16 23:46:39 -07:00 |
|
dellaert
|
03be928065
|
static Retract and Local are superfluous (do not belong to any concept)
|
2015-07-16 23:45:57 -07:00 |
|
dellaert
|
e7c2e81831
|
Re-formatted to BORG-style
|
2015-07-15 23:24:24 -07:00 |
|
Frank Dellaert
|
8d4e54bc20
|
Merge remote-tracking branch 'origin/develop' into feature/cleanup_ImuFactor
Conflicts:
gtsam/nonlinear/expressionTesting.h
gtsam/nonlinear/factorTesting.h
|
2015-07-15 23:20:14 -07:00 |
|
Frank Dellaert
|
10a653ad7f
|
Better documentation
|
2015-07-15 22:59:30 -07:00 |
|
Frank Dellaert
|
1a8a7235c2
|
Merge remote-tracking branch 'origin/develop' into feature/sam_sfm_directories
|
2015-07-15 22:33:28 -07:00 |
cbeall3
|
ecdd4d5787
|
Fix parameter bug and improve documentation
|
2015-07-15 12:51:21 -04:00 |
|
dellaert
|
3d04fa0ed3
|
Merge remote-tracking branch 'origin/develop' into feature/sam_sfm_directories
|
2015-07-14 22:25:38 -07:00 |
|
Frank Dellaert
|
df1886c56c
|
Even more concise by templating on second argument. Made return type explicit in HasRange/HasBearing.
|
2015-07-14 01:13:33 -07:00 |
|
Frank Dellaert
|
64d315df19
|
HasBearing and HasRange helper classes
|
2015-07-14 00:32:24 -07:00 |
|
Frank Dellaert
|
5f6f9847d6
|
Merge remote-tracking branch 'origin/feature/sam_sfm_directories' into feature/sam_sfm_directories
|
2015-07-13 23:44:57 -07:00 |
|
Frank Dellaert
|
bc1c5d7bad
|
Better serialization tests
|
2015-07-13 23:44:26 -07:00 |
|
Frank Dellaert
|
6b51ef994c
|
Moved serialization support into ExpressionFactor
|
2015-07-13 23:43:57 -07:00 |
|
dellaert
|
6bb5b03c7a
|
Added two specializations for matlab wrapper
|
2015-07-12 22:48:54 -07:00 |
|
dellaert
|
59c258623a
|
Fixed friend declaration
|
2015-07-12 22:30:55 -07:00 |
|
Frank Dellaert
|
1289e5c729
|
Fixed typo
|
2015-07-12 21:43:46 -07:00 |
|
Frank Dellaert
|
850c8a7921
|
Fixed BearingRangeFactor
|
2015-07-12 21:08:52 -07:00 |
|
Frank Dellaert
|
d9fe27a131
|
Measure static method
|
2015-07-12 20:45:58 -07:00 |
|
Frank Dellaert
|
fe7b280879
|
Manifold traits
|
2015-07-12 20:23:49 -07:00 |
|
Frank Dellaert
|
57e28c1731
|
moved Testable to class
|
2015-07-12 20:18:59 -07:00 |
|
Frank Dellaert
|
b6a785e2d9
|
BearingRange type
|
2015-07-12 20:16:06 -07:00 |
|
Frank Dellaert
|
30435da070
|
Moved BearingRangeFactor to SAM
|
2015-07-12 18:57:26 -07:00 |
|
Frank Dellaert
|
9c525c2e7f
|
Default constructor now default
|
2015-07-12 18:56:45 -07:00 |
|
Frank Dellaert
|
539401664b
|
use assert_equal
|
2015-07-12 18:36:50 -07:00 |
|
Frank Dellaert
|
05ce9b1e0e
|
Made use of Bearing/Range functors now
|
2015-07-12 16:34:23 -07:00 |
|
Frank Dellaert
|
02b703c5c8
|
Added MakeJacobian meta-function
|
2015-07-12 16:33:56 -07:00 |
|
Frank Dellaert
|
03db69117a
|
Define and partially specify Range and Bearing functors
|
2015-07-12 15:51:49 -07:00 |
|
Frank Dellaert
|
3bad6fea67
|
moved RangeFactor to SAM
|
2015-07-12 12:12:59 -07:00 |
|
Frank Dellaert
|
fdcb4e8234
|
cleanup
|
2015-07-12 12:06:40 -07:00 |
|
Frank Dellaert
|
3d4ea47ab9
|
Added binary specialization
|
2015-07-12 12:06:13 -07:00 |
|
Frank Dellaert
|
752a6b5537
|
renamed to measured_
|
2015-07-12 12:05:52 -07:00 |
zhaoyang
|
6b1c411f9e
|
feature: add two small unit tests for local coordinate
|
2015-07-12 14:37:40 -04:00 |
|
zhaoyang
|
05a55b262a
|
fix: type error in comments
|
2015-07-12 14:37:03 -04:00 |
|
Frank Dellaert
|
aa600c4df5
|
Merge remote-tracking branch 'origin/fix/Unit3Serialization' into feature/sam_sfm_directories
|
2015-07-12 10:57:32 -07:00 |
|
Frank Dellaert
|
6bf96c7ed4
|
Merge remote-tracking branch 'origin/fix/Unit3Serialization' into fix/Unit3Serialization
|
2015-07-12 10:39:31 -07:00 |
|
Frank Dellaert
|
3a3088856e
|
Merge remote-tracking branch 'origin/fix/Unit3Serialization' into fix/Unit3Serialization
|
2015-07-12 10:37:35 -07:00 |
|
Frank Dellaert
|
297f8fcc9b
|
Replaced flaky random tests with more compact one that excludes degeneracies explicitly
|
2015-07-12 10:30:30 -07:00 |
|
Frank Dellaert
|
3245a2304e
|
Improved small angle behavior of retract
|
2015-07-12 10:29:55 -07:00 |
|
Frank Dellaert
|
fcbceaf746
|
More tests
|
2015-07-12 00:12:06 -07:00 |
|
Frank Dellaert
|
84950b3b4d
|
Unit3.cpp edited online with Bitbucket
|
2015-07-12 05:17:23 +00:00 |
|
Frank Dellaert
|
48169e7776
|
restored mutex to original scope
|
2015-07-11 21:14:45 -07:00 |
|
Frank Dellaert
|
c8cf14d4b9
|
Moved mutex around smaller block
|
2015-07-11 20:00:56 -07:00 |
|
Frank Dellaert
|
5c406dc7c7
|
fixed serialization (no need to save B!)
|
2015-07-11 20:00:41 -07:00 |
|
Frank Dellaert
|
e52dca63f6
|
3D version with Unit3 measurement now works
|
2015-07-11 18:32:43 -07:00 |
|
Frank Dellaert
|
6b037ea492
|
bearing test
|
2015-07-11 18:32:10 -07:00 |
|
Frank Dellaert
|
5052eb2c64
|
cleaning up
|
2015-07-11 18:31:36 -07:00 |
|
Frank Dellaert
|
12bbe2f911
|
Added comment about manifold measurements
|
2015-07-11 18:29:15 -07:00 |
|
Frank Dellaert
|
3fae6178e8
|
Merge remote-tracking branch 'origin/develop' into feature/sam_sfm_directories
|
2015-07-11 16:56:55 -07:00 |
|
Frank Dellaert
|
e40c546931
|
Test 3D version
|
2015-07-11 16:56:38 -07:00 |
|
Frank Dellaert
|
58a280c672
|
Bearing
|
2015-07-11 16:56:31 -07:00 |
|
Frank Dellaert
|
9146bfe89f
|
Merged in fix/unit3retract (pull request #167)
fix: correct some inappropriate floating point error in Unit3, and its test
|
2015-07-11 16:55:14 -07:00 |
|
Frank Dellaert
|
495f70bf78
|
Now use 3 template parameters, no more need for Pose::Rotation
|
2015-07-11 16:34:38 -07:00 |
|
Frank Dellaert
|
b97d66b04a
|
Assert type T is Testable
|
2015-07-11 16:34:10 -07:00 |
|
Frank Dellaert
|
d4b4e99172
|
Clean up loose ends
|
2015-07-11 16:11:23 -07:00 |
|
Frank Dellaert
|
3cb9e19220
|
Separate header for serializable variant
|
2015-07-11 16:11:13 -07:00 |
|
Frank Dellaert
|
ed0d66cf62
|
Fully serializable expression factors
|
2015-07-11 15:55:01 -07:00 |
|
Frank Dellaert
|
64b26288f5
|
fixed broken covariance
|
2015-07-11 14:16:17 -07:00 |
|
Frank Dellaert
|
5b4daf7527
|
Added tests for R/covariance/information
|
2015-07-11 14:14:04 -07:00 |
|
Frank Dellaert
|
d45f6336d8
|
missing export header
|
2015-07-11 14:13:42 -07:00 |
|
Frank Dellaert
|
07bb930dbb
|
Now serializes noise model
|
2015-07-11 13:52:27 -07:00 |
|
Frank Dellaert
|
b52f488d75
|
default constructor
|
2015-07-11 13:51:39 -07:00 |
|
Frank Dellaert
|
f44e39eb21
|
Testable and default constructor
|
2015-07-11 13:51:30 -07:00 |
|
Frank Dellaert
|
022af8f9bc
|
use traits
|
2015-07-11 13:50:53 -07:00 |
|
Frank Dellaert
|
85e2e3bd2a
|
Added link
|
2015-07-11 13:23:05 -07:00 |
|
Frank Dellaert
|
7e50b2d070
|
Testable traits
|
2015-07-11 13:22:52 -07:00 |
|
Frank Dellaert
|
71231abf1b
|
Serialization of Factor base class works
|
2015-07-11 12:04:07 -07:00 |
|
Frank Dellaert
|
8f511078c4
|
Refactor, print, removed serialization :-(
|
2015-07-09 16:41:48 -07:00 |
|
Frank Dellaert
|
8f118d488e
|
Added unit test
|
2015-07-09 12:08:44 -07:00 |
|
Frank Dellaert
|
98ba94c748
|
moved BearingFactor to sam
|
2015-07-09 12:08:28 -07:00 |
|
Frank Dellaert
|
76d478c0e0
|
Moved testing machinery to correct spot
|
2015-07-09 12:07:59 -07:00 |
|
Frank Dellaert
|
7ff3e11efd
|
removed redundancy in naming
|
2015-07-09 11:29:32 -07:00 |
|
Frank Dellaert
|
83d4296255
|
removed .cpp files of deprecated LieXXX.h
|
2015-07-09 11:28:40 -07:00 |
|
Frank Dellaert
|
3b16ad2967
|
Moved deprecated headers into subdirectory
|
2015-07-09 11:14:39 -07:00 |