b7c1097f58
feature: add inline get methods
2015-06-24 16:29:38 -04:00
ff14e576ee
fix: return plane coefficents dimension was wrong, should be Vector4, not Vector3
2015-06-24 16:18:33 -04:00
6c34ce1e80
change: add some comments
2015-06-24 16:11:29 -04:00
61315329bf
Fix Matlab serialization
2015-06-24 10:55:06 -04:00
d415cffd4b
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
2015-06-23 22:41:33 -07:00
16cbb97181
Moved insert to cpp
2015-06-23 22:41:08 -07:00
0f73e768e0
Merge remote-tracking branch 'origin/feature/SmartFactors3' into feature/SmartFactors3
...
Conflicts:
gtsam/linear/tests/testRegularHessianFactor.cpp
2015-06-23 22:32:50 -07:00
801d1fb700
Merged in feature/performance (pull request #161 )
...
Improving performance
2015-06-23 22:27:10 -07:00
0e022b3b33
Values::keys now returns KeyVector instead of list. Corresponding fixes in Matlab wrapper.
2015-06-24 00:35:32 -04:00
bb58550ae4
change:oops, forget the change in the test
2015-06-23 10:14:19 -04:00
b0f04503c9
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
...
# Conflicts:
# gtsam/linear/tests/testRegularHessianFactor.cpp
# gtsam/slam/SmartFactorBase.h
2015-06-23 10:03:42 -04:00
93e1311e0d
change: reduce some temporary computation
2015-06-23 10:01:02 -04:00
b758eafad2
change: simplifies the equation
2015-06-23 03:16:32 -04:00
89dc6399e2
fix: correct a stupid test typo error. Jacobian is always fine, no issue
2015-06-23 03:16:01 -04:00
a37f81fed7
fix: some name conflicts. Change calibrate with optional jacobian to calibrate2
2015-06-23 02:23:36 -04:00
1c3ab0ce30
fix: compile issue in previous jacobians...
2015-06-23 02:03:44 -04:00
d8b9cae25d
feature: add test to Cal3_S2 calibrate jacobian
2015-06-23 01:59:32 -04:00
f7bf418c45
feature: add jacobian to Cal3_D2 calibrate()
2015-06-23 01:46:50 -04:00
0abdddb5a9
Merged develop into feature/performance
2015-06-22 12:11:00 -07:00
c4e0a10949
Add gtsam/config.h include to all files which include Eigen
2015-06-22 12:01:44 -04:00
304f12b106
Small fixes for TBB/Timing path
2015-06-22 00:33:35 -07:00
c33bb7a89a
Solved Scatter bug
2015-06-21 23:34:11 -07:00
0d2558cbb5
Removed print
2015-06-21 23:33:59 -07:00
b2fabc7610
Merge branch 'vectorScatter2' into feature/performance
2015-06-21 23:24:14 -07:00
41d4c48938
Checked scatter
2015-06-21 22:48:36 -07:00
a28ebc5461
Switched to vector
2015-06-21 22:41:12 -07:00
a3ed636fce
Use symbols
2015-06-21 21:09:31 -07:00
c30bd3e654
Comments
2015-06-21 20:09:38 -07:00
963b68ffe7
Merge remote-tracking branch 'origin/feature/reducedBloat' into feature/performance
2015-06-21 18:18:59 -07:00
47495c8f46
Included config where needed
2015-06-21 18:14:20 -07:00
f9bf63b71c
Documentation and formatting
2015-06-21 15:05:36 -07:00
ef829c333e
Refactored elimination traversal a tiny bit
2015-06-21 14:19:01 -07:00
a35adc127c
Reverted back to vector
2015-06-21 14:18:24 -07:00
22b7d8276a
Formatting
2015-06-21 13:56:48 -07:00
e2d49922d2
Switch to list - made code be container-agnostic
2015-06-21 13:39:55 -07:00
d34c1808a8
Moved to inst file
2015-06-21 13:18:43 -07:00
b95bc712f4
Kill stray timing
2015-06-21 13:18:28 -07:00
000f807eda
Formatting only
2015-06-21 13:10:44 -07:00
c8f8791bab
Moved merging to ClusterTree
2015-06-21 13:06:42 -07:00
0d0a9e5b16
Formatting only
2015-06-21 12:57:26 -07:00
67013cba05
Separated merge decision from actual merging
2015-06-21 12:49:33 -07:00
2dd83fd92c
Count then merge
2015-06-21 11:44:17 -07:00
e9d6feea5c
reserve vector
2015-06-21 01:46:11 -07:00
f9ddbb1345
Eliminated linked list
2015-06-21 01:45:56 -07:00
47279b56e0
Fixed print (now w symbols)
2015-06-20 23:45:22 -07:00
b6541c96de
Reverse keys, finalized
2015-06-20 22:54:23 -07:00
83487370ab
Headers and timing
2015-06-20 22:53:04 -07:00
724bcdb6a0
Reversed adding of keys
2015-06-20 22:11:05 -07:00
cab4eaa567
Re-factored constructor to eliminate overly verbose types
2015-06-20 22:02:08 -07:00
263805a329
Added constructor for ClusterNode
2015-06-20 22:01:37 -07:00
08f6f58af7
Merge remote-tracking branch 'origin/feature/reducedBloat' into feature/CeresDefaults
2015-06-20 19:15:14 -07:00
128bac616c
Globally replaced FastSet<Key> with KeySet.
2015-06-20 18:38:25 -07:00
d1be7caed5
Made Key Testable, and moved all but base type away from types.h
2015-06-20 18:37:47 -07:00
e0afc0e05c
Removed mpl-based Testable scheme with GTSAM 4 traits. This means you now have to be Testable to be a "FastSet". Future plan is to completely get rid of ths data structure, which is probably all but fast.
2015-06-20 18:36:03 -07:00
926ae2c7a8
Merged develop into feature/reducedBloat
2015-06-20 16:51:30 -07:00
9359ad70e2
Merge remote-tracking branch 'origin/feature/reducedBloat' into feature/CeresDefaults
2015-06-20 16:22:06 -07:00
d2bf0120fc
And another one !
2015-06-20 15:50:57 -07:00
8ba8a0ff94
Removed system specific header (damn eclipse organize includes!)
2015-06-20 15:47:30 -07:00
63c28f89bf
Removed system-specific header
2015-06-20 15:37:11 -07:00
5719ba27fa
Reducing header bloat by introducing new ThreadSafeException header.
2015-06-20 15:28:25 -07:00
1f2e789240
Fixed print
2015-06-20 13:26:25 -07:00
1f8adc9381
Cleaned up parameters a bit
2015-06-20 13:09:39 -07:00
2ce252fdc0
Got rid of inline
2015-06-20 12:42:59 -07:00
a93001ba0d
Merge remote-tracking branch 'origin/fix/testRegularHessianFactor' into feature/SmartFactors3
2015-06-20 12:40:45 -07:00
8e1b4cc3be
Fixed bug in test
2015-06-20 12:16:57 -07:00
ef73de4b51
Grouped getters/setters, removed define (MATLAB wrapper needs these)
2015-06-20 12:00:49 -07:00
51df837f74
Fixed small c++ issues (const, reference) and formatted
2015-06-20 11:49:13 -07:00
e6a563d900
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
...
Conflicts:
gtsam/linear/tests/testRegularHessianFactor.cpp
gtsam/slam/SmartFactorBase.h
2015-06-20 11:48:42 -07:00
794d91e88d
Merged in feature/RegularTesting (pull request #157 )
...
More constructors and better typing/testing of ReglarHessianFactors
2015-06-20 11:16:31 -07:00
cd6c5ca0bd
using parameters in smart projection factors constructors.. breaking the API, but now is way more elegant
2015-06-19 18:09:39 -04:00
f8205bfe02
Merge branch 'develop' into feature/SmartFactors3
...
Conflicts:
gtsam/geometry/CalibratedCamera.h
gtsam/geometry/tests/testCalibratedCamera.cpp
gtsam/geometry/triangulation.h
gtsam/nonlinear/ExpressionFactor.h
gtsam/slam/SmartProjectionFactor.h
gtsam_unstable/slam/SmartStereoProjectionFactor.h
tests/testExpressionFactor.cpp
2015-06-19 16:55:30 -04:00
2d9fddbcaa
made cameras virtual and simplified pose factor (with Frank)
2015-06-19 15:33:18 -04:00
dcce21639f
included new constructors (still commented out)
2015-06-19 14:59:33 -04:00
f1e5c61762
adding parameter structure
2015-06-19 13:10:42 -04:00
78c8160dc5
all tests pass and it compiles (yuppii!), but if I make check I get errors with isManifold and something that seems unrelated to smart factors. going to merge with develop
2015-06-19 12:06:45 -04:00
fb7bc12c84
most unit tests fixed - 2 to go, now sensor_T_body is in the base class, probably not the best choice
2015-06-19 11:42:51 -04:00
100016e3af
put sensor_T_body in SmartProjectionFactor
2015-06-19 10:39:59 -04:00
756d1d29b7
fixing key unit tests - still failures in the optimization
2015-06-18 17:23:39 -04:00
66083f5e18
included calibration in constructor SmartProjectionPoseFactor
2015-06-18 16:33:17 -04:00
391386a654
revived SmartProjectionPoseFactor. Compiles now, going to fix unit tests now
2015-06-18 16:00:54 -04:00
879e66a63a
TWo default param sets
2015-06-18 09:51:22 -07:00
9f209e441f
Merge branch 'fix_constructor' into feature/CeresDefaults
2015-06-17 19:54:34 -07:00
62bfce7358
Fixed state constructor to set reuseDiagonal properly
2015-06-17 19:54:21 -07:00
ba932cafae
Spelling
2015-06-17 19:43:04 -07:00
e7d10b8080
Merged in fix/zeroRowInQR (pull request #155 )
...
Change in QR factorization
2015-06-17 13:59:28 -07:00
1269785c05
Fixed naming convention
2015-06-17 09:23:24 -07:00
d71e66ea48
Moved reuse_diagnal_ to reuseDiagonal in state
2015-06-17 09:20:46 -07:00
178c1aec88
Better comment
2015-06-17 09:05:02 -07:00
a9339baef0
Merged develop into fix/sparse_jacobian_output
2015-06-17 08:37:55 -07:00
32044eaac8
Added a named constructor to mimick Ceres defaults
2015-06-16 22:24:39 -07:00
b91ed6dc6e
Got rid of warning
2015-06-16 21:17:22 -07:00
ca2aa0cfd4
Refactoring to get grouped factors to compile again
2015-06-16 20:33:33 -07:00
82f6ca64a5
Merge remote-tracking branch 'origin/develop' into fix/zeroRowInQR
2015-06-15 01:09:19 -07:00
b68f763fe7
Merged in feature/LinearSolverCleanup (pull request #148 )
...
This has
- Separate Scatter class
- change from updateATA to updateHessian as a virtual method
- Fixed-size BinaryJacobianFactor that overloads updateHessian
- SFM Timing Script that takes BAL files
2015-06-15 01:08:02 -07:00
33e412f2ee
Code review
2015-06-15 01:05:48 -07:00
f523db2d98
IMPORTANT CHANGE/BUGFIX: QR elimination now (I think properly) leaves a row of zeros if the RHS after QR contains a non-zero. A corresponding change in the error calculation makes that Jacobian and Hessian factors now agree on error. I think this was a bug, because it affected the error, but (I think) it only pertained to "empty" JacobianFactors which have no bearing on optimization/elimination.
2015-06-15 00:55:53 -07:00
83171b6096
New example
2015-06-14 23:07:28 -07:00
75e072396c
Refactored and renamed some internals
2015-06-14 16:05:39 -07:00
15966a65f2
Small reformat
2015-06-14 16:05:18 -07:00
a18875b598
Changed headers to GTSAM-style (near to far)
2015-06-14 16:05:09 -07:00
5771664622
Starting to diagnose issue with lower-left entry of Hessian
2015-06-14 16:01:54 -07:00
7698c52ce9
Created BinaryJacobianFactor template
2015-06-14 15:50:15 -07:00
06902209b0
Fixed bug in hessian scalar computation
2015-06-14 15:19:55 -07:00
30104a114e
More tests with failing example
2015-06-14 15:03:44 -07:00
a94c2e7323
Renamed to BinaryJacobianFactor
2015-06-14 15:02:48 -07:00
9fcd498d6a
BORG formatting
2015-06-14 13:37:51 -07:00
8c22684bbb
Went back to base 1, and used constructors for blocks (cleaner)
2015-06-14 13:02:44 -07:00
df226fc436
No longer store my own matrices but get same performance using block
2015-06-14 12:54:18 -07:00
e045a5e1f7
Added more powerful tests on updateHessian
2015-06-14 12:53:20 -07:00
850501ed52
BORG Formatting
2015-06-14 11:16:54 -07:00
2c99f68ed7
Some formatting/cleanup before fixing bug
2015-06-14 10:56:22 -07:00
4909fef21a
Fixed issue
2015-06-13 20:20:33 -07:00
4e1a0edb0a
Reverted back to vector to avoid troubles w TBB
2015-06-13 20:19:44 -07:00
d0775faeba
Save slots to bring cost down from O(n^3) to O(n^2) - again, in theory. In practice, it did seem to help for larger HessianFactors (as expected).
2015-06-13 12:26:10 -07:00
f6575323d6
Sidestep Scatter altogether and just use HessianFactor keys_. In theory, n^3 lookup cost, but in practice (as keys is contiguous memory) just as fast as map.
2015-06-13 12:06:13 -07:00
08f30966dd
Got rid of obsolete getSlots method
2015-06-13 11:03:12 -07:00
c8cff296fb
Don't bother making an array
2015-06-13 09:01:13 -07:00
abe6b9cec6
change 'world' to 'point'
2015-06-12 17:27:36 -04:00
3d18d70d69
change naming for local_point & world_point
2015-06-12 16:55:38 -04:00
8440e3c3b2
cool, a simplified D_local_z jacobian
2015-06-12 16:53:32 -04:00
2a2b885cdd
change local variable naming...
2015-06-12 16:07:36 -04:00
950cdec3b6
Merged 'develop'.
2015-06-12 15:34:05 -04:00
4c9b1de675
Tests passed with real settings
2015-06-12 15:09:28 -04:00
9ac223ec7d
correct the chain rule in Jacobian
2015-06-12 15:08:58 -04:00
4c4c72adb4
oops, this should be derivative against pose in test
2015-06-12 13:56:47 -04:00
fb34c099ec
fix the RegularJacobianFactor overload issue, for mutiplyHessianAdd function.
2015-06-12 13:35:45 -04:00
6664699c4c
getSlots method
2015-06-12 09:33:55 -07:00
a5d74f77d7
add test case. correct constness for backproject2 definition
2015-06-12 10:47:02 -04:00
b712a65c21
Updated gttic strings as well
2015-06-12 00:28:15 -07:00
41a0146b05
changed updateATA -> updateHessian. Much clearer
2015-06-12 00:20:37 -07:00
c9910625c2
Fixed headers
2015-06-11 23:51:35 -07:00
bcc34d1c12
No more copy constructor
2015-06-11 23:49:28 -07:00
15d5542809
Renamed variable
2015-06-11 23:48:18 -07:00
692ddd8f36
Made node keys ordered to avoid copy constructor in eliminate
2015-06-11 23:38:57 -07:00
63d918ed7a
Now FastVector
2015-06-11 23:38:29 -07:00
f89ffdc81c
Restored defaults (test failed)
2015-06-11 23:11:24 -07:00
5f41529fff
Added required method
2015-06-11 21:45:01 -07:00
257060e8dd
Scatter class in separate compilation unit
2015-06-11 21:21:01 -07:00
cb76d321d3
add back-projection derivative w.r.t. point, only the equation not finished yet.
2015-06-11 17:16:50 -04:00
29c2b47ace
Fixed comments, added TODO
2015-06-11 14:09:00 -07:00
e140538a48
Use diagonal damping by default
2015-06-11 13:22:38 -07:00
635a2a0792
Fix bug that could disconnect graph
2015-06-11 13:22:26 -07:00
48d159120d
create a backproject2, with optional Jacobians
2015-06-11 11:40:40 -04:00
304cc61dec
Specialized fixed-size matrix
2015-06-10 23:47:53 -07:00
5dc149fe23
Faster linearize now in class
2015-06-10 18:37:09 -04:00
171793aad3
Prototype (faster?) linearize
2015-06-10 18:27:34 -04:00
7ec26ff323
Added Whiten
2015-06-10 18:27:10 -04:00
39ffe3ac32
Made updateATA a virtual method for a small saving in CPU, but more importantly to allow for custom Jacobian or HessianFactors...
2015-06-10 15:53:43 -04:00
c75a76c705
Moved raw access method (possibly to be removed!) to base class as does not assume regular...
2015-06-08 20:30:55 -04:00
f3e54ff916
Some refactoring/formatting
2015-06-08 20:01:33 -04:00
627febfbaa
Fixed headers
2015-06-08 20:01:04 -04:00
7f49a7a1fb
Fixed comments
2015-06-08 20:00:49 -04:00
116c9d4398
Use same defaults as ceres
2015-06-08 18:28:46 -04:00
c6269dfe76
Better iteration timing
2015-06-08 18:28:27 -04:00
42d85b6458
Merge remote-tracking branch 'origin/develop' into feature/sam_sfm_directories
...
# Conflicts:
# gtsam/CMakeLists.txt
2015-06-08 16:18:52 -04:00
9742df5198
Merge remote-tracking branch 'origin/develop' into feature/LinearSolverCleanup
2015-06-08 13:03:53 -07:00
9e2dedaf4d
Merged in fix/movedTests (pull request #149 )
...
Put test in right place
2015-06-08 13:01:10 -07:00
e93c346e02
Fixed minor warning triggering in tests
2015-06-07 21:18:37 -07:00
5fd5f5786f
Header discipline, and split up updateATA timing
2015-06-07 20:54:24 -07:00
73a09c508d
isUnit
2015-06-07 20:54:03 -07:00
1ae0f256a1
Moved test to right place (geometry tests should not be relying on optimization code, and this was a test of the factor, not pinholecamera)
2015-06-07 20:25:35 -07:00
2d98056497
organize headers
2015-06-07 20:24:53 -07:00
298850484a
Merged in feature/testPinholeCameraBAL (pull request #113 )
...
Add a unit test using BAL data
2015-06-07 18:47:43 -07:00
aae8fa1beb
Merged in fix/install-nonlinear-internal-headers (pull request #146 )
...
Install nonlinear internal headers.
2015-06-07 17:44:53 -07:00
8dc6cfb158
namespace fix for issue #239
2015-06-07 17:28:25 -04:00
874c4796c9
Merged in feature/DirectProduct (pull request #143 )
...
Added machinery to create product types
2015-06-04 14:45:25 -07:00
b820db58e3
Install the nonlinear internal headers.
2015-06-03 01:13:22 +02:00
390bada6a9
Merged in feature/StereoPoint2_VectorSpace (pull request #145 )
...
Made StereoPoint2 a vector space just like Point2
2015-05-26 19:04:10 -04:00
0961d61404
minor cleanup
2015-05-26 18:43:36 -04:00
c786943152
Made StereoPoint2 a vector space just like Point2, removed old-style dimensions, and fixed indentation
2015-05-26 12:34:49 -04:00
3d99c24d82
Fix equality operator for Point2, and add test that would have caught this bug
2015-05-26 12:25:33 -04:00
913affc755
Merged in feature/FixedVectorsInPoses (pull request #142 )
...
Switch to using Fixed Vectors in PoseX
2015-05-26 08:04:17 -04:00
2ebe7d676a
Reverted change in test
2015-05-26 01:44:08 -07:00
d385984f26
Working compose/between/inverse derivatives
2015-05-26 01:08:27 -07:00
69c9017b36
Added identity
2015-05-26 01:03:13 -07:00
22ff9b6aef
Made retract etc take Fixed vectors in poses
2015-05-26 00:10:03 -07:00
8939adc799
Moved ProductLieGroup to its own header
2015-05-25 23:49:41 -07:00
9d522c72f3
internal::LieGroup needed if you also want Testable traits
2015-05-25 22:04:04 -07:00
42b0f0f4d4
We need identity
2015-05-25 22:02:54 -07:00
e65f510ebf
Harmonized traits internal helper classes
2015-05-25 22:02:42 -07:00
111d0d39dd
Got rid of CRTP
2015-05-25 20:51:50 -07:00
1bbbb7ad56
Get rid of obsolete comments
2015-05-25 18:31:06 -07:00
8582357976
test Product
2015-05-25 18:30:53 -07:00
4aa7225585
Get rid of g() and h()
2015-05-25 18:30:40 -07:00
b8a8a16348
typedefs are no longer possible with CRTP :-(
2015-05-25 16:51:08 -07:00
6569bd49aa
Put Derived in Group, as well
2015-05-25 16:31:56 -07:00
3b7c4404f9
Now Private base class
2015-05-25 12:00:05 -07:00
740f49576b
ProductManifold
2015-05-25 11:59:56 -07:00
5d04af634c
Merge remote-tracking branch 'origin/develop' into feature/DirectProduct
2015-05-25 10:31:55 -07:00
b525ef7c9d
Fixed serialization issue
2015-05-25 10:30:06 -07:00
4015fba225
Fix system-installed GeographicLib detection and run tests.
2015-05-24 19:15:37 -04:00
994196d37d
Successful representation of E as product manifold
2015-05-24 15:34:48 -07:00
387dfe5229
Some more tests on retract/localCoordinates
2015-05-24 15:33:15 -07:00
2c235d98be
Formatting and comments only
2015-05-24 15:32:20 -07:00
cf9588542a
Revert: Merged in fix/PninholeBaseLinking (pull request #111 )
...
Added a quick fix to unblock develop (reverted from commit ee9ef6f9bc
2015-05-24 17:18:49 -04:00
9fc9e70dd6
Test DirectProduct by constructing dihedral group Dih6
2015-05-24 12:39:41 -07:00
6c6abe0b6c
compose_pow and DirectProduct
2015-05-24 12:38:53 -07:00
b8e980258c
Fixed invariant tests (which were basically no-ops)
2015-05-24 10:26:07 -07:00
379e0c6ede
Test non-abelian groups with permutation group
2015-05-24 10:25:42 -07:00
f335e70196
Fixed some issues and further testing
2015-05-24 10:25:19 -07:00
58f3945605
Moved DirectSum template to Group.h header
2015-05-23 22:25:44 -07:00
0062152120
prototyping direct sum
2015-05-23 22:00:39 -07:00
8d97415239
Modernized group traits
2015-05-23 22:00:21 -07:00
b01eb4e960
Added a test for PoseVelocityBias
2015-05-23 17:49:52 -07:00
69c0d68891
Removed a lot of copy paste, use factorTesting macro
2015-05-23 17:30:36 -07:00
ba0d16adf0
Moved things to appropriate header
2015-05-23 17:30:19 -07:00
a261587d4b
Minor cleanup, moved reset method closer to constructor
2015-05-23 17:28:39 -07:00
28d48aae09
Fix for boost 1.58
2015-05-20 21:45:09 -04:00
68416d6330
Add serialization include to remedy issue #229
2015-05-20 21:38:38 -04:00
bf026eb33d
Small fixes to make it actually work in Matlab
2015-05-20 13:30:36 -04:00
f8ab4ef144
Change SimpleCamera from typedef back to regular class to make wrapping+serialiation work. Had to change some templates because vector<PinholeCamera> can't be upcast to vector<SimpleCamera>
2015-05-18 14:33:27 -04:00
9132af9e60
Merged develop into fix/matlab_wrapper
2015-05-15 17:07:06 -04:00
d8b531aaba
attempt to fix strange MKL-related error
2015-05-15 00:19:39 -04:00
fd95ebbef8
Fixed constructor argument
2015-05-13 23:57:07 -07:00
79d20b6c44
GTSAM-style formatting
2015-05-13 23:44:46 -07:00
13a4da21b2
misc bugfixes and cleanup from skydio
2015-05-13 22:26:24 -07:00
e456923a74
Merged in feature/SimplerExpressions (pull request #135 )
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Expressions without MPL
2015-05-13 00:36:49 -07:00
24128f15fc
Some comments
2015-05-12 16:12:28 -07:00
41a1aab0e2
Virtual destructor
2015-05-12 14:23:42 -07:00
68d26ad2af
Fixed typo
2015-05-12 13:54:01 -07:00
3b83c18d67
Fixed traceSize failures
2015-05-12 13:46:43 -07:00
4ba329c23b
Fixed many warnings on Ubuntu
2015-05-12 13:46:24 -07:00
e43591e4d5
Fixed Eigen include issue
2015-05-12 12:42:18 -07:00
32ecaf7e89
Forgotten header
2015-05-12 12:42:06 -07:00
4f846ff75f
No more boost::mpl needed for Expressions
2015-05-12 01:33:33 -07:00
4a8dbd689a
TernaryExpression now without MPL
2015-05-12 01:25:34 -07:00
e1b3a11957
BinaryExpression now without MPL
2015-05-12 01:10:03 -07:00
b8024b10b5
Simplifying UnaryExpression
2015-05-11 23:37:50 -07:00
8fecac46c0
more descriptive names, get rid of value confusion
2015-05-11 23:00:50 -07:00
69c31d20e1
Made JacobianMap internal
2015-05-11 22:21:52 -07:00
b213e6419a
Re-ordered for clarity
2015-05-11 22:12:00 -07:00
686c920d9f
Removed unsafe test
2015-05-11 22:11:26 -07:00
0090e07df9
Moved to internal subdirectory
2015-05-11 21:26:25 -07:00
81b3860991
Moved all internal data structures to internal namespace
2015-05-11 21:19:40 -07:00
134730eeee
Moved utility functions to inl.h
2015-05-11 20:53:41 -07:00
8d8f270b60
JacobianMap, header discipline
2015-05-11 20:37:11 -07:00
a753f071f4
Try separating out ExecutionTrace
2015-05-11 19:04:45 -07:00
c6d723baad
Moved entire ExpressionNode hierarchy now
2015-05-11 18:42:49 -07:00
eb8d1a91a6
Merged in fix/ImuFactorInefficiencies (pull request #133 )
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Small optimization improvements in PreintegrationBase.h. Fixes Issue#227
2015-05-11 12:31:42 -07:00
a99aaf892c
move meta functions to Expression class scope
2015-05-10 02:36:42 -04:00
3bce234403
move ExpressionNode to seperate .f file
2015-05-10 02:23:52 -04:00
376c9e409d
move some Expression implementations to include header
2015-05-06 14:50:01 -04:00
e5dce0de0d
Remove OptionalPoint3
2015-05-06 13:30:52 -04:00
949efebe72
fix missing boost header under linux
2015-05-06 12:02:46 -04:00
9a0f973e71
forward declare traits and moved MakeOptionalJacobian here...
2015-05-04 10:11:02 -07:00
3a99e74bb7
Use public meta-function now
2015-05-04 10:07:10 -07:00
e20a704a96
Moved a lot of things to Expression-inl.h, made interface cleaner and more encapsulated. With Jing on skype...
2015-05-04 10:06:55 -07:00
0a19c078e7
Added traceSize checks
2015-05-04 10:04:42 -07:00
e2e6d1b116
Slight refactor of tests, added (commented out) dynamic test
2015-05-03 20:46:15 -07:00
11de86cc1e
Better print
2015-05-03 20:45:52 -07:00
zhaoyang
cbeall3
dellaert
Frank Dellaert
Luca
Thomas Schneider
Abe
Jing Dong