0e42a96294
Cleaned up printing of Rot3
2020-06-18 11:09:37 -05:00
f235aaf8c4
use Eigen formatting for Rot3 ostream
2020-06-16 18:18:55 -05:00
e90530d70b
Merge branch 'develop' into fix/rotations
2020-03-20 12:27:26 -04:00
7b6a80eba2
Revert "test for stability of RQ due to atan2 as well as fix"
...
This reverts commit 1d5239dd25
2020-03-18 19:14:19 -04:00
1d5239dd25
test for stability of RQ due to atan2 as well as fix
2020-03-18 18:20:18 -04:00
e987cb53a0
Lots of improvements to Rot3
...
- Ensure axis in AxisAngle constructor is a unit vector. Added test.
- Improved rotation inverse with support for quaternions.
- Use Eigen::Transpose for transpose return type.
- Roll/Pitch/Yaw is more efficient.
- Fix/Remove old TODOs.
2020-03-17 14:00:27 -04:00
0d46932456
Proper const
2020-03-17 13:15:35 -04:00
170d1526b7
axisAngle maintains angle between [0, π] so updated docs and tests accordingly
2020-03-16 23:33:34 -04:00
8f2a00e4bd
fix for angle outside the range (-pi,pi] and added more tests to verify
2020-03-14 10:10:00 -04:00
1553d4321c
correct way of maintaining angle of axis-angle representation within (-pi,pi]
2020-03-13 19:33:57 -04:00
ab46c7c3ce
removed static ToAxisAngle function
2020-03-09 16:01:24 -04:00
0fbe63aa17
static function & method for axis-angle with improved tests and fix for sign ambiguity
2020-03-08 17:07:40 -04:00
7019d6f4b8
convert axisAngle to static ToAxisAngle, update tests
2020-03-07 08:35:08 -05:00
087247c6e0
return axis-angle representation instead of just angle, updated test to be much simpler
2020-03-06 17:54:25 -05:00
0e6efb98d7
compute angle in degrees between 2 Rot3 matrices
2020-03-06 16:30:07 -05:00
8b201f07bb
Random now uses std header <random>.
2020-02-28 07:21:54 -08:00
0372a959ee
Many small improvements, bug-fixes, and tests
2016-02-24 11:01:19 -08:00
0a7fd27f28
Working on getting a simple typedef to compile - as well as dealing with Point3() now creating uninitialized memory.
2016-02-10 17:48:52 -08:00
6eece9cc60
Quaternion now also uppercase
2016-01-26 23:57:34 -08:00
bb9543f251
Renamed two-argument versions of Rodrigues to AxisAngle
2015-07-05 16:33:10 -07:00
4342aa5901
Renamed rodriguez variants to preoper naming convention (uppercase for static) and spelling (Rodrigues). Also, now call Expmap in either SO3 or Quaternion.
2015-07-05 15:38:54 -07:00
982ddaeecb
Moved ExpmapDerivative and LogmapDerivative to SO3
2015-02-10 20:14:59 +01:00
8191ad5078
Rot3 modernization: now derives from LieGroup, SLOW_CAYLEY is gone, retract and localCoordinates auto-generated so no more flag. Might re-add instance-based expmap and logmap in LieGroup for convenienece.
2014-12-24 17:43:38 +01:00
78386ad144
Merge ExmapeDerivative/LogmapDerivative changes from 'origin/develop' into feature/tighteningTraits
...
Conflicts:
gtsam/base/LieScalar.h
gtsam/geometry/Point2.h
gtsam/geometry/Point3.h
gtsam/geometry/Rot3.h
gtsam/geometry/Rot3M.cpp
gtsam/geometry/Rot3Q.cpp
gtsam/geometry/tests/testRot3.cpp
2014-12-24 13:55:15 +01:00
e0a767e7fd
Renamed all dexpL/dexpInvL, merged Luca/Duy versions in Rot3
2014-12-24 12:25:53 +01:00
c6ae119414
Tightened what is needed for Lie, i.e., fewer versions of retract/localCoordinates
2014-12-22 23:42:52 +01:00
36358308fd
minor code optimization in ExpmapDerivative
2014-12-10 16:56:21 -05:00
b3f0f3877c
capitalized ExpmapDerivative and LogmapDerivative
2014-12-10 16:16:29 -05:00
bf8de1341b
Merge branch 'develop'
2014-12-09 17:13:30 -05:00
e82b815a48
renamed right jacobian of expmap and logmap (removed "right", according to Frank's suggestion :-)
2014-12-09 17:10:04 -05:00
971a53cfb5
Fixed size vectors for all Logmap, localcoordinates and vector methods
2014-12-07 13:51:17 -05:00
bd6f210b87
changed << to =. gives error because range() was removed from PinholeCamera.h ?
2014-12-04 09:36:00 -05:00
deff8b1e25
fixed the (*) to -> and code some more code beautification.
2014-12-03 11:27:18 -05:00
7116661a2e
changed naming convention of const matrices to _DxD. @dellaert
2014-12-03 10:58:09 -05:00
4e557d38e6
updated Matrix.h with commonly used matrices.
2014-12-03 09:59:10 -05:00
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
c1c6a30e50
Removed print statement
2014-10-23 22:39:07 +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
483d713859
unrotate is same now, with transpose_
2014-10-22 22:16:35 +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
6f692b1547
Merge branch 'develop'
...
Conflicts:
gtsam/base/SymmetricBlockMatrix.cpp
gtsam/linear/JacobianFactor-inl.h
gtsam_unstable/geometry/tests/testTriangulation.cpp
2014-03-12 12:57:59 -04:00
e4edaf359c
Avoiding mallocs and working with fixed blocks where possible, makes a pretty noticeable difference in the inner linearize loop
2014-03-01 18:04:43 -05:00
6962072301
moved Jacobians on SO3 to Rot3
2014-02-24 14:00:14 -05:00
6a0f2e9b88
Merge branch 'origin/release/2.4.0'
...
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
5604414b40
Made Sphere2 constructor to be explicit + some changes in Rot3.
2014-02-01 12:42:59 -05:00
0464b38ca0
Merged changes from develop
2014-01-25 10:07:34 -05:00
Varun Agrawal
Frank Dellaert
Frank
dellaert
Luca
cbeall3
nsrinivasan7
Richard Roberts
indelman