7626 Commits (a25b2f14d66f20cbb6220b39e66ea4da2a88bd17)

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Author	SHA1	Message	Date
dellaert	22218eafc4	We will not wrap fixed Vectors and Matrices individually. Methods that take those can just as well be wrapped with Vector or Matrix. Note const and & are ignored for those. I added a small method, insertFixed, that allows one to put in small fixed size matrices for optimization. Did not do retrieval yet.	2014-12-10 10:45:22 +01:00
Sungtae An	e9b0f7b98f	Change Cholesky decomposed matrix from 'Upper' to 'Lower' in order to avoid confusion.	2014-12-10 02:55:40 -05:00
thduynguyen	ba903536c8	fix ACTIVE/INACTIVE constants as Frank suggested	2014-12-09 22:29:21 -05:00
thduynguyen	565eb99948	remove a TODO as it's done.	2014-12-09 22:28:39 -05:00
Luca	57d83be48a	matrix definition on same line	2014-12-09 19:05:14 -05:00
Luca	b96a463b10	ok, fixed updatePreintegratedMeasurements with optionalJacobian	2014-12-09 18:32:38 -05:00
Luca	d809a952df	started to include optionalJacobian: compiles after merge to develop and all unit tests pass	2014-12-09 18:03:54 -05:00
Luca	bf8de1341b	Merge branch 'develop'	2014-12-09 17:13:30 -05:00
Luca	e82b815a48	renamed right jacobian of expmap and logmap (removed "right", according to Frank's suggestion :-)	2014-12-09 17:10:04 -05:00
Luca	1e8402231c	applied (to some extend) the naming convention proposed by Frank	2014-12-09 16:59:30 -05:00
Luca	b593a6a2d5	removing redundant lines and using jacobian computation from base class	2014-12-09 16:41:29 -05:00
Luca	5f17e1fb98	fixed noise propagation. Luca&Christian: insight is that preintegration noise acts on rotations as R * expmap(noise), while before it was expmap( logmap(R) + noise)	2014-12-09 16:34:43 -05:00
thduynguyen	85397223ef	fix QPSolver unit tests	2014-12-09 16:27:11 -05:00
thduynguyen	9b418c98ca	fix LPSolver unittest	2014-12-09 16:26:19 -05:00
Luca	013c8a4cef	added extra test on covariance propagation	2014-12-09 16:05:39 -05:00
Luca	d22868d524	removed multiple definitions of trivial matrices (eye,zero)	2014-12-09 15:55:24 -05:00
Luca	2c1d72e7d7	tested Jacobians computation (G) for combined IMU factor	2014-12-09 15:50:41 -05:00
Luca	53b59bf488	added truth revealing unit test for Combined Imu factor (and fixed latest changes, that, moving updatePreintegratedMeasurements before, were creating a bug)	2014-12-09 15:17:26 -05:00
Frank Dellaert	2d231edd1b	Merged in fix/windowsExpressions (pull request #69) ... Windows Fixes	2014-12-09 19:06:02 +01:00
Andrew Melim	1e778cf77b	No longer need to cast function pointers for expressions on Windows, with Optional Jacobian	2014-12-09 11:53:35 -05:00
Andrew Melim	137ea64200	Updating with OptionalJacobian	2014-12-09 11:49:47 -05:00
Andrew Melim	90676199dd	Adding comment relating to issue and move around fix preprocessor locations	2014-12-09 11:49:13 -05:00
Andrew Melim	3bd491bf66	Merge branch 'develop' into fix/windowsExpressions	2014-12-09 11:04:30 -05:00
thduynguyen	57aae7f7b1	revert .cproject to its previous version in commit a9e3545a	2014-12-09 10:25:59 -05:00
thduynguyen	733b041cf2	Merge remote-tracking branch 'origin/feature/quadratic_programming' into feature/qp_refactor ... Conflicts: gtsam_unstable/linear/QPSolver.cpp	2014-12-09 10:24:56 -05:00
thduynguyen	001794ac84	refactor QPSolver inprogress... Compiled but tests failed.	2014-12-09 06:13:57 -05:00
thduynguyen	8c4705b905	check testable concept	2014-12-09 06:13:01 -05:00
thduynguyen	a4f8ead2a6	add print	2014-12-09 06:12:41 -05:00
Andrew Melim	cea76a2848	More template handholding for windows	2014-12-08 21:48:59 -05:00
Andrew Melim	701dcc1c99	Correcting VLA issue, and add template specification for between Pose2 objects. More template specifcations will be needed on windows, unless another fix is found	2014-12-08 21:39:12 -05:00
Andrew Melim	fdc1d50801	Added comment	2014-12-08 20:48:36 -05:00
Andrew Melim	4f6ed03803	Fix missing symbol exports for windows	2014-12-08 20:45:24 -05:00
Luca	64dfde3ae6	in the process of adding tests for the combined imu factor (not there yet)	2014-12-08 20:28:28 -05:00
Andrew Melim	92f1f33818	Preprocessor warning does not work on windows. Use pragma message instead	2014-12-08 20:24:00 -05:00
Luca	b126d98609	included suggestions from Frank	2014-12-08 20:20:03 -05:00
dellaert	21b97ddedf	Removed obsolete methods (but link error!)	2014-12-09 01:04:21 +01:00
dellaert	449ba1f37a	LieGroupChart makes use of Exponential map (and its inverse) around identity	2014-12-09 00:52:53 +01:00
Luca	dc13912ce2	moved jacobian computation to updateMeasurement functions, and fixed noise propagation. Luca&Christian: insight is that preintegration noise acts on rotations as R * expmap(noise), while before it was expmap( logmap(R) + noise)	2014-12-08 18:41:39 -05:00
Luca	02f92e4e04	included Jacobian of logmap in quaternion mode	2014-12-08 18:39:47 -05:00
dellaert	3077d03568	Header should also be included in non-quaternion mode	2014-12-09 00:11:28 +01:00
dellaert	8fcf9d9866	SO(3) is a *Matrix* Lie group. This is it. Rot3 will inherit from this *or* Quaternion.	2014-12-09 00:11:28 +01:00
dellaert	118d561e96	Created GTSAM_GROUP_IDENTITY as it handles templates differently	2014-12-09 00:11:28 +01:00
Sungtae An	c5b4d731cc	Correct Yond-Dian's name	2014-12-08 18:03:40 -05:00
Luca	54ee973309	changed naming in comments about expmap & logmap jacobians	2014-12-08 16:27:57 -05:00
Luca	f991c1a398	getting rid of rightJacobianSO3 (not completed yet)	2014-12-08 13:15:51 -05:00
Luca	422db08c69	included Jacobian for logmap and expmap, with unit tests (Note: only implemented for Rot3M, this will not work in quaternion mode)	2014-12-08 12:31:02 -05:00
Luca	d5d7594888	deleted hard-coded function from IMU unit test	2014-12-08 12:31:02 -05:00
Chris Beall	fbcb9a4d67	Fix intermittent optimization crash in Debug+TBB modes, exposed by testGeneralSFMFactor, etc.	2014-12-08 10:59:49 -05:00
lvzhaoyang	6d97b8d3db	Small fix of IMUKittiExampleAdvanced. Now the same priorFactor issue	2014-12-08 10:41:52 -05:00
Frank Dellaert	473bc1b703	Derivatives of Charts, and special Lie group treatment	2014-12-08 13:08:39 +00:00