dellaert
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bc6af85a9c
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Fixed issue in debug mode
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2014-12-21 22:14:10 +01:00 |
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dellaert
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88a83fe9e7
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re-formatted ScalarTraits while checking correctness (seems correct)
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2014-12-21 16:46:20 +01:00 |
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dellaert
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505c876588
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Small changes, fixed matrices
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2014-12-21 15:57:21 +01:00 |
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dellaert
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25f95ed22f
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Additional checking
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2014-12-21 15:04:29 +01:00 |
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dellaert
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7bba8c42e4
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Fixed testQuaternion
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2014-12-21 14:59:59 +01:00 |
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dellaert
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00b374c9e9
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Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits
Conflicts:
gtsam/base/LieScalar.h
gtsam/geometry/Point2.h
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2014-12-21 14:39:23 +01:00 |
thduynguyen
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30afbc5f1d
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closed-form formula of Pose2's expmap/logmap derivatives
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2014-12-19 13:53:08 -05:00 |
Mike Bosse
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263d4e163c
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more progress, need to fix testSO3.cpp and testManifold.cpp
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2014-12-17 22:53:56 +01:00 |
Paul Furgale
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959716ae92
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A lot more progress making things work. Still a long way to go.
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2014-12-13 12:47:52 +01:00 |
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thduynguyen
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18481f21d0
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disable SLOW_BUT_CORRECT_EXPMAP to make test passed
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2014-12-12 22:08:33 -05:00 |
krunalchande
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e539738fd0
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Remove support for dual keys. Added finished() after all matrices and vectors. Remove buildDualGraph from GaussianFactorGraph. Remove support for multipliedHessians for non-linear equality constraints.
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2014-12-12 17:23:31 -05:00 |
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thduynguyen
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e12add2739
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Merged in develop (pull request #71). Resolve conflicts.
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2014-12-12 15:34:53 -05:00 |
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Mike Bosse
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df8dc1f99c
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fixing little things... far from done
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2014-12-12 21:12:17 +01:00 |
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Mike Bosse
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edb1bbaa7b
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quaternion trait refactored
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2014-12-12 14:18:39 +01:00 |
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Mike Bosse
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376dec5103
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cleaned up a bit; but not really working yet. Trouble with partial specialization of lie_group::expmap<Quaternion<> >()
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2014-12-11 03:15:45 +01:00 |
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dellaert
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8fcf9d9866
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SO(3) is a *Matrix* Lie group. This is it. Rot3 will inherit from this *or* Quaternion.
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2014-12-09 00:11:28 +01:00 |
cbeall3
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cd35db218b
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Minor cleanup
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2014-12-07 13:58:06 -05:00 |
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dellaert
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62ae58e7ea
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Quaternion header
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2014-12-07 19:13:02 +01:00 |
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dellaert
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10ae9f5505
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Easier to read with Cyclic<3>
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2014-12-07 18:55:49 +01:00 |
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dellaert
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9194b92cf6
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Now work with MACROS instead - but get linking error. Upside (if we can fix that): uniform treatment between foreign types (see Quaternion) and GTSAM types (Cyclic). Downside: seems I had to create a different macro for different number of template arguments. Help?
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2014-12-07 18:41:18 +01:00 |
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dellaert
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38a0842090
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Macros. Too ugly?
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2014-12-07 18:01:30 +01:00 |
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dellaert
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19c38b91ee
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Finish CRTP in Cyclic
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2014-12-07 15:59:31 +01:00 |
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dellaert
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ef58a8a56a
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Attempt at satisfying Group concept by deriving from base class. Needs to be fixed, also, test does not link :-(
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2014-12-07 13:24:59 +01:00 |
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dellaert
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cdc0029158
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Reverted on Chart base class. But no chart-specific traits needed, as assumed created by us.
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2014-12-07 13:01:25 +01:00 |
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dellaert
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a31e596448
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Working local/Logmap (taken from Rot3Q)
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2014-12-07 12:47:26 +01:00 |
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dellaert
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36da8702f9
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Retract works
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2014-12-07 12:35:17 +01:00 |
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dellaert
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e2f250c160
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Added Manifold, Lie Group, and Vector Space concepts back in
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2014-12-07 11:52:09 +01:00 |
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dellaert
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187760ce95
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Refactor for readability
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2014-12-07 10:20:54 +01:00 |
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dellaert
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3a6b89e840
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Now all Eigen::Quaternion flavors are certified as IsGroup
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2014-12-07 10:19:38 +01:00 |
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dellaert
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06640cc414
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New naming convention for concept (IsGroup), moved invariant checking out to namespace
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2014-12-07 09:48:31 +01:00 |
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dellaert
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e1c1d788c0
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Quaternions are a group (test compiles, at least)
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2014-12-06 18:01:13 +01:00 |
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dellaert
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614bfeb9d3
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Moved to headers
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2014-12-06 13:11:56 +01:00 |
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dellaert
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4d2a0aefc1
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Group checks out !
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2014-12-06 12:59:35 +01:00 |
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dellaert
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6c2b28aa8b
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between tested
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2014-12-06 12:50:40 +01:00 |
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dellaert
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5407232e36
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between and inverse, as well as tag dispatching
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2014-12-06 11:51:44 +01:00 |
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dellaert
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ddeb764912
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group::traits, and group::compose
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2014-12-06 11:37:14 +01:00 |
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dellaert
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07ef30039a
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structure_tag works
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2014-12-06 11:17:54 +01:00 |
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dellaert
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71e77b8c87
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Compiles
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2014-12-06 10:58:16 +01:00 |
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dellaert
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6f82458bee
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Trying to firm things up by having a small unit test for cyclic groups.
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2014-12-06 10:17:35 +01:00 |
Natesh Srinivasan
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f5db91a56f
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works on gcc 4.8
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2014-12-05 11:08:13 -05:00 |
Luca
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523ebb7b6f
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moved TriangulationFactor to slam folder
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2014-12-04 11:18:26 -05:00 |
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dellaert
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fa66762394
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omitted extra typedef
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2014-12-04 13:51:40 +01:00 |
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dellaert
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fcfd232639
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Added tests, everything checks out
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2014-12-04 12:28:12 +01:00 |
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Natesh Srinivasan
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aad0b2876b
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Changed Matrix.h to correct return values amd impleemnted rectangular matrix types.
Also changed block operations to <<
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2014-12-03 15:16:55 -05:00 |
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nsrinivasan7
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7116661a2e
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changed naming convention of const matrices to _DxD. @dellaert
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2014-12-03 10:58:09 -05:00 |
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Natesh Srinivasan
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4e557d38e6
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updated Matrix.h with commonly used matrices.
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2014-12-03 09:59:10 -05:00 |
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nsrinivasan7
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595afb51fe
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fixed Rot3(). @dellaert, I will do the '->', Identity(), setZero() etc . once I am fully done with geometry.
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2014-12-01 18:20:03 -05:00 |
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nsrinivasan7
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490e75b103
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finished Pose2.cpp using @dellaert 's temporary matrices idea. Still have a couple of functions that are not fixed for instance wedge<Pose2>, a template specialization from Lie.h.
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2014-12-01 10:54:18 -05:00 |
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nsrinivasan7
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ca9c66073f
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Rot2 rotate() and unrotate() changes to OptionalJacobians
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2014-11-30 16:09:46 -05:00 |
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nsrinivasan7
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8457ef4182
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make check works in this commit
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2014-11-30 15:42:50 -05:00 |