02ceb1366b
Progress on compilation
2014-12-12 17:02:15 +01:00
3077d03568
Header should also be included in non-quaternion mode
2014-12-09 00:11:28 +01:00
9dc3d28bf2
Now Rot3 uses QuaternionChart Expmap/Logmap in quaternion mode
2014-12-08 13:16:30 +01:00
595afb51fe
fixed Rot3(). @dellaert, I will do the '->', Identity(), setZero() etc . once I am fully done with geometry.
2014-12-01 18:20:03 -05:00
6505e602d8
FixedRef is now OptionalJacobian
2014-11-28 17:14:26 +01:00
1e4905ef04
Now use new FixedRef type in all methods that I used fixed-sized matrices in to develop Expressions. All copy/paste bloat is now gone, and boost::none arguments are back.
2014-11-28 01:56:28 +01:00
5246ce32d3
Merged in feature/stock_eigen_commainitializer (pull request #44 )
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Revert Eigen to stock comma initializers
2014-11-23 18:41:55 -05:00
ecc763d9f0
Windows build fixes
2014-11-23 13:01:56 -05:00
aa093a35da
Updated all comma initializer usages to use .finished()
2014-11-22 16:35:27 -08:00
003224ac3f
fixing serialization code when class has no base
2014-10-30 17:21:24 +01:00
2788ec7f33
removed std::type_traits which is c++11
2014-10-29 10:23:13 +01:00
1fadda83e0
removed DerivedValue<> inheritence from classes
2014-10-24 18:34:06 +02:00
cfe56a0aa8
Removed transpose_. It did speed up things but was bad design. Will need to profile again and find different ways to cope with transpose() overhead. One way is to return a Eigen::Transpose<> object as hinted to in comments.
2014-10-23 19:13:37 +02:00
79efd2f3fc
SLERP with Zhaoyang, not really part of BAD, but here it originated :-)
2014-10-23 19:11:44 +02:00
e60ad9d2b2
Re-factor traits, has its own namespace now, as well is_group and zero
2014-10-21 01:25:47 +02:00
9a3d2747b8
Type of dimension<T>::value should be int
2014-10-19 23:13:20 +02:00
6e142184cc
Implemented is_manifold and dimension for all types in testExpressionFactor
2014-10-19 00:35:25 +02:00
5bcc3d922c
Just always store transpose? Problem with optional was that the *empty* optional was copied from the Values, so we gained nothing.
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However, this is expensive space-wise (double), and optimizes for a particular usage of Rot3, so does not seem good practice (see stack overflow discussion, as well). But the alternative is cumbersome.
2014-10-15 14:28:47 +02:00
c4bf680e96
Cached Rot3::transpose(). Inspired by @cbeall3 fix of Unit3, I realized that with one million points and 1000 cameras, the same Matrix3 (R_.transpose()) was computed a 1000 more times than needed. Especially with quaternions this would be expensive, even with Rot3Q.
2014-10-15 11:51:41 +02:00
b704b7b1a1
Faster versions
2014-10-07 19:34:45 +02:00
ea40de6758
Fixed Jacobian versions
2014-10-06 21:37:05 +02:00
e65ddf4d87
cleaned up LM with Richard, before merge
2014-03-12 14:24:15 -04:00
6f692b1547
Merge branch 'develop'
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Conflicts:
gtsam/base/SymmetricBlockMatrix.cpp
gtsam/linear/JacobianFactor-inl.h
gtsam_unstable/geometry/tests/testTriangulation.cpp
2014-03-12 12:57:59 -04:00
6962072301
moved Jacobians on SO3 to Rot3
2014-02-24 14:00:14 -05:00
6a0f2e9b88
Merge branch 'origin/release/2.4.0'
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Conflicts:
.cproject
gtsam/geometry/Rot3.cpp
gtsam/geometry/Unit3.cpp
gtsam/geometry/Unit3.h
gtsam/geometry/tests/testEssentialMatrix.cpp
gtsam/geometry/tests/testSphere2.cpp
gtsam/navigation/CMakeLists.txt
2014-02-23 15:52:28 -05:00
926c27c732
Rename Sphere2 -> Unit3
2014-02-22 16:20:28 -05:00
27a86352d7
boost::random namespace fixes in geometry
2014-02-12 17:15:02 -05:00
0464b38ca0
Merged changes from develop
2014-01-25 10:07:34 -05:00
5e9540470a
modified Vector_() in gtsam/base and gtsam/geometry folders
2014-01-23 01:17:07 -05:00
401fede2e9
Added expmap coordinate mode option for Sphere2 retract and local coordinates, as well as unrotate for Sphere2.
2014-01-07 17:45:09 -05:00
4b538d9648
Conjugation
2014-01-03 17:45:45 -05:00
f54861f851
Made it more clear that Rotation constructor takes columns.
2014-01-03 15:56:45 -05:00
a47f0a30da
Use Sphere2::Random to generate a random Rot3
2013-12-26 13:59:44 -05:00
bd3126f7b4
Merged changes from the trunk back into geometry. This triggered Eigen merge, as well as Vector/Matrix in base. Next up: slam, unstable.
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git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/branches/2.4@20422 898a188c-9671-0410-8e00-e3fd810bbb7f
2013-12-21 18:34:23 -05:00
6959ad5e6f
Fix error when wrapping a library using Rot3 to matlab: "type stored... is N5gtsam4Rot3E but requested type was N5gtsam4Rot3E", because gtsam is linked 2 times: one with the library, one with the mex, and somehow Rot3 is not virtual and exists in both. Moving print implementation to cpp seems to fix this problem.
2013-08-08 08:51:52 +00:00
6bf6cc8bdd
Point3 and Rot3 dexpInvL
2013-08-06 16:26:35 +00:00
bcae0afd31
Putting sub matrices along the diagonal of a big matrix. dexpL for Rot3 and Point3
2013-08-06 14:24:10 +00:00
a48864452b
fix GTSAM_POSE3_EXPMAP warnings. Add GTSAM_ROT3_EXPMAP option.
2013-08-02 13:28:29 +00:00
5ae4f21517
Added missing dll export tags to new functions
2013-06-20 16:05:23 +00:00
640fcd94b1
Added stream operator <<
2013-06-05 23:41:46 +00:00
eeef9eab32
Generating config.h file in CMake with quaternion mode flag, dataset paths. Also added CMake option to use system-installed Eigen, which works by generating a global eigen include file containing the corresponding include paths.
2013-04-25 15:57:15 +00:00
547323cc79
Fixed a bunch of compiler warnings
2013-04-05 21:34:04 +00:00
e8cb5491f0
Added function to convert from a Rot3 to a vector quaternion that works in matlab. Fixed plot2DTrajectory to actually plot poses when there are no marginals
2013-03-25 17:58:11 +00:00
a54d177202
Added dll export tags and updated cmake scripts so that GTSAM can build as a shared library on windows
2013-03-13 18:56:21 +00:00
5270cd1d9c
Added documentation on order of elements in vectors (retract, localCoordinates, constructor, etc) in Rot3, Pose2, Pose3
2013-02-26 20:50:17 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
fdb94319bd
comments
2012-06-18 14:03:43 +00:00
b9927a1b7e
Fixed Doxygen warnings.
2012-06-07 23:08:43 +00:00
8e39e6b656
Fixed doxygen warnings
2012-06-07 04:54:40 +00:00
5839d1bfaa
minor improvements to RQ and cleanup
2012-04-11 15:12:39 +00:00
Paul Furgale
dellaert
nsrinivasan7
Chris Beall
Richard Roberts
Mike Bosse
gawela
Luca
jing
Alex Trevor
Frank Dellaert
Frank Dellaert
Duy-Nguyen Ta
Alex Cunningham
Chris Beall
Summit Patel