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321 Commits (f558ccbb2de2d25c93705b96d482b07e0c7a19d2)

Author SHA1 Message Date
Frank Dellaert 25db851a0b Getting rid of old MonteCarlo - in progress 2015-12-23 13:44:07 -08:00
Frank Dellaert e7f3f1cd29 Derivative tested again 2015-12-23 12:51:28 -08:00
Frank Dellaert 630c2a7a18 Now uses Runner 2015-12-23 12:34:30 -08:00
Frank Dellaert 9ecb6ed5f3 Now using ScenarioRunner 2015-12-23 12:12:12 -08:00
Frank Dellaert e06ae41c86 Merge remote-tracking branch 'origin/RSS_ImuFactor' into feature/scenarios 
Conflicts:
	gtsam/navigation/ScenarioRunner.h
	gtsam/navigation/tests/testScenarioRunner.cpp
 2015-12-23 12:02:41 -08:00
Frank Dellaert 30946af981 Acceleration scenario tested 2015-12-23 11:59:56 -08:00
Frank Dellaert ccef2faa95 Fixed pose of accelerating trajectory 2015-12-23 11:58:41 -08:00
Frank Dellaert dc2bac5a9e Moved all noise/sampling of IMU to ScenarioRunner 2015-12-23 11:33:52 -08:00
Frank Dellaert 00b83ced7a AcceleratingScenario + some refactoring (v and a specified in nav frame) 2015-12-23 11:15:42 -08:00
Frank Dellaert dfe3f3a348 Split off Scenario abstract base class 2015-12-23 09:22:05 -08:00
Frank Dellaert 21ed3ec441 Set up acceleration test 2015-12-23 08:59:53 -08:00
Frank Dellaert dfdac8c4ca Set up tests that pass 2015-12-22 19:30:48 -08:00
Frank Dellaert 4129c9651a Set up tests that pass 2015-12-22 19:29:27 -08:00
Frank Dellaert cebd9ed1d3 Merge branch 'RSS_ImuFactor' into feature/scenarios 
Conflicts:
	gtsam_unstable/slam/Mechanization_bRn2.cpp
 2015-12-22 19:01:11 -08:00
Frank Dellaert 75385d009b Small improvements 2015-12-22 18:45:38 -08:00
Frank 69fa553495 Monte Carlo analysis 2015-12-22 14:01:16 -08:00
Frank 95745015e0 Moved to header file 2015-12-22 11:49:14 -08:00
Frank 40bc3149ad Added loop 2015-12-22 11:47:37 -08:00
Frank f1fa66e9c1 Removed debug code 2015-12-22 11:39:20 -08:00
Frank d3534b2d2b Fixed circle example 2015-12-22 11:37:04 -08:00
Frank Dellaert 699ba32c9e Further examining a circular trajectory 2015-12-22 10:02:12 -08:00
Frank Dellaert 846a777491 Forward scenario 2015-12-21 15:12:03 -08:00
Frank Dellaert be47a2ef15 Run Scenario and check mean 2015-12-21 14:49:52 -08:00
Frank Dellaert 988837be6a Moved to header, added some methods 2015-12-21 14:29:52 -08:00
Frank Dellaert d0f911139d First Scenario test 2015-12-21 13:57:26 -08:00
Frank Dellaert a03924eb85 Merge remote-tracking branch 'origin/develop' into feature/ImuFactorPush2 
Conflicts:
	gtsam/navigation/tests/testImuFactor.cpp
 2015-12-15 12:43:50 -08:00
Frank ee5bd7ac39 Increased # MC samples 2015-10-19 15:20:07 -07:00
Frank Dellaert ee7ada9b81 Got rid of commented out tests, made MC do more samples 2015-10-10 14:16:30 -07:00
Duy-Nguyen Ta 435e042aa0 revert the Eigen's bug as we can't touch Eigen. Fix our code to play nice with the bug by avoiding cross product. 2015-09-18 23:35:51 -04:00
Duy-Nguyen Ta a4dc589716 fix indent 2015-09-17 22:10:19 -04:00
Duy-Nguyen Ta bc99c58226 fix Rot3-from-Matrix construction for Quaternion case 2015-09-17 17:44:00 -04:00
Duy-Nguyen Ta 6fb453e725 disable experimental tests with specified expected values 2015-09-17 11:34:49 -04:00
Duy-Nguyen Ta a9954b3bd5 test pass when using priorBias in Preint instead of zeroBias 2015-09-17 11:32:39 -04:00
Duy-Nguyen Ta cf821f5124 update api 2015-09-17 11:30:39 -04:00
Duy-Nguyen Ta c7e52fe861 a bit more complicated test case 2015-09-17 11:28:59 -04:00
Duy-Nguyen Ta 7f19e2ea86 ImuFactor Jacobian test passed. 
Need to integrate at least two IMU measurements to get information on the position
 2015-09-15 11:14:45 -04:00
Duy-Nguyen Ta 704411de4e MonteCarlo test passed for body_P_sensor case. Unittests for Jacobians of updatedDeltaXij. Code to verify statistics and nonlinearity of generated samples. 2015-09-10 23:13:35 -04:00
Duy-Nguyen Ta f59c442fb3 non-isotropic diagonal noises to check the effect of body_R_sensor. Predefine seeds for random samplers 2015-09-10 23:07:45 -04:00
Duy-Nguyen Ta 9f91aedd6a test centrifugal derivative 2015-09-02 16:52:54 -04:00
dellaert cf5f859679 Boost optional for sensor pose 2015-08-24 15:15:57 -07:00
Duy-Nguyen Ta 2d251c6411 make one MC test passed by using non-zero random seeds and increasing the number of samples 2015-08-10 21:03:21 -04:00
dellaert 7fc1befdca Two different random seeds for better Monte-Carlo 2015-08-09 11:43:26 -07:00
dellaert 18d0966630 more Monte Carlo 2015-08-01 17:21:34 -07:00
dellaert b8f05e1e35 More tests 2015-08-01 17:21:15 -07:00
dellaert 7224162e60 More Monte Carlo... 2015-07-31 21:04:16 -07:00
dellaert b26bfb27ac Removed F/G tests: derivatives no longer matched and are checked at a lower level anyways. 2015-07-31 15:42:22 -07:00
dellaert 7901077a7a refactoring F and G 2015-07-31 15:32:16 -07:00
dellaert 325ede23fe BIG: switch to NavState delta pose 2015-07-31 15:08:12 -07:00
dellaert e3d36da188 Switched argument order 2015-07-31 13:33:23 -07:00
dellaert 628a4cc4cc Removed inheritance from PreintegratedRotation 2015-07-31 11:43:53 -07:00
dellaert 3cdf8973d4 Monte Carlo analysis 2015-07-30 22:50:06 -07:00
dellaert cefc441fba bodyVelocity and working update derivatives 2015-07-30 09:39:25 -07:00
dellaert 13f8935c52 update prototype 2015-07-30 08:05:39 -07:00
dellaert 9c35c931f6 Modernized test 2015-07-29 21:53:18 -07:00
dellaert aebe8161dd Strengthened AHRS tests 2015-07-29 16:14:42 -07:00
dellaert 75cc3020eb Fixed all but sensor_pose error 2015-07-29 12:01:22 -07:00
dellaert 2a9e1db4cb Merge branch 'feature/cleanup_ImuFactor' into noiseModelMixup 2015-07-29 11:54:16 -07:00
dellaert 9d1111a767 Derivative accuracy 2015-07-29 11:53:24 -07:00
dellaert 999a19a57d More tests on localCoordinates 2015-07-29 11:52:46 -07:00
dellaert 5ca67d0a3a FromPoseVelocity 2015-07-29 11:20:35 -07:00
dellaert 5b9bf9affa Fix the noise covariances to conform to new error order... 2015-07-29 15:43:42 +02:00
dellaert 8992cf7832 Merge branch 'regression_test' into feature/cleanup_ImuFactor 
Conflicts:
	gtsam/navigation/tests/testImuFactor.cpp
 2015-07-27 19:05:55 +02:00
dellaert 2007391987 Better test, with 2nd order integration 2015-07-27 18:35:56 +02:00
dellaert b1ec4d5876 Merge branch 'regression_test' into feature/cleanup_ImuFactor 
Conflicts:
	gtsam/navigation/tests/testImuFactor.cpp
 2015-07-27 16:17:05 +02:00
dellaert 11d0ad0d78 Covariance regression values 2015-07-27 16:12:41 +02:00
dellaert d5d8000926 Merge branch 'fix/imuFactor_BodyPSensor' into feature/cleanup_ImuFactor 
Conflicts:
	gtsam/navigation/CombinedImuFactor.cpp
	gtsam/navigation/ImuFactor.cpp
	gtsam/navigation/PreintegrationBase.cpp
	gtsam/navigation/PreintegrationBase.h
	gtsam/navigation/tests/testImuFactor.cpp
 2015-07-26 20:50:56 +02:00
dellaert 18ff25b67f Cleaned up test while reading it 2015-07-25 17:34:16 +02:00
dellaert 7407b605b9 Merge remote-tracking branch 'origin/develop' into fix/imuFactor_BodyPSensor 
Conflicts:
	gtsam/navigation/CombinedImuFactor.cpp
	gtsam/navigation/ImuFactor.cpp
	gtsam/navigation/PreintegrationBase.h
	gtsam/navigation/tests/testImuFactor.cpp
 2015-07-25 10:02:20 +02:00
dellaert 670781231c Fixed derivative of biasCorrectedDelta 2015-07-24 17:40:35 +02:00
dellaert 7ebcb4c18f Replaced large complicated original function with just a call to localCoordinates. 2015-07-24 16:45:55 +02:00
dellaert 7a78d54fc3 derivatives for Local and localCoordinates 2015-07-24 14:43:06 +02:00
dellaert 9bcdf972f8 Asserting that computeError is just localCoordinates 2015-07-24 14:17:46 +02:00
dellaert 77d8e7d0bd All tests pass now ! 2015-07-24 13:39:50 +02:00
dellaert 323ed5220b Gravity should be specified in NAV coordinates! Default Nav frame is assumed to be *Z down* for the old-style constructors. 2015-07-24 13:22:32 +02:00
dellaert c6b68e6795 No more second-order integration flag 2015-07-23 17:08:19 +02:00
dellaert de76314488 Straight line example, including finding defect in using first-order approximation 2015-07-23 14:21:29 +02:00
dellaert 85085e882d Removed Lie tests (now in testNavState) 2015-07-22 22:24:53 +02:00
dellaert a99911b997 Now uses NavState::predict ! 2015-07-22 22:24:19 +02:00
dellaert 8ae4e2afd9 A fully functioning predict from preintegrated tangent vector 2015-07-22 17:46:03 +02:00
dellaert 2a38ed9603 Additive version for coriolis forces 2015-07-22 01:01:19 -04:00
dellaert eb42a57860 Merge branch 'regression_test' into feature/NavState_new_retract 
Conflicts:
	gtsam/navigation/tests/testImuFactor.cpp
 2015-07-22 00:42:06 -04:00
dellaert 0ced228413 Regression test for predict with arbitrary measurements 2015-07-22 00:36:32 -04:00
dellaert a9b4cdbe47 coriolis now lives in NavState 2015-07-22 00:19:08 -04:00
dellaert 4dbe5e68d2 Component access derivatives 2015-07-21 18:28:02 -04:00
dellaert 2dd7987478 Working AdjointMap and hence also derived derivatives of retract/localCoordinates 2015-07-21 16:25:58 -04:00
dellaert 4c8c669d71 Moved NavState to its own header and totally revamped as a semi-direct product 2015-07-21 11:23:24 -07:00
dellaert 8a8503ee33 New retract. Still some bug in derivative 2015-07-20 21:40:58 -07:00
dellaert 3a941a0ef4 NavState retract derivatives 2015-07-20 00:55:34 -07:00
dellaert 2df20b4f37 Second order coriolis done 2015-07-19 23:58:06 -07:00
dellaert 5f6d3a600f First order coriolis derivatives 2015-07-19 23:40:20 -07:00
dellaert 76abf553b0 biasCorrectedDelta and test of its derivatives 2015-07-19 21:24:38 -07:00
dellaert 9382641445 Use constants, slight renaming 2015-07-19 01:52:53 -07:00
Frank Dellaert 0df1e345a3 Complete refactor with a shared parameter to fixed parameters. Tests still use old-style and all pass, because of hacky backwards compatible functions. 2015-07-18 18:30:42 -07:00
dellaert 55269d642c Fixed order of components in error to match RTV order 2015-07-17 15:34:58 -07:00
dellaert 61c58c6fa6 Fixed naming convention 2015-07-17 15:33:20 -07:00
dellaert e7c2e81831 Re-formatted to BORG-style 2015-07-15 23:24:24 -07:00
Frank Dellaert 8d4e54bc20 Merge remote-tracking branch 'origin/develop' into feature/cleanup_ImuFactor 
Conflicts:
	gtsam/nonlinear/expressionTesting.h
	gtsam/nonlinear/factorTesting.h
 2015-07-15 23:20:14 -07:00
cbeall3 4015fba225 Fix system-installed GeographicLib detection and run tests. 2015-05-24 19:15:37 -04:00
Frank Dellaert b01eb4e960 Added a test for PoseVelocityBias 2015-05-23 17:49:52 -07:00
Frank Dellaert 69c0d68891 Removed a lot of copy paste, use factorTesting macro 2015-05-23 17:30:36 -07:00
cbeall3 28d48aae09 Fix for boost 1.58 2015-05-20 21:45:09 -04:00
Abe 13a4da21b2 misc bugfixes and cleanup from skydio 2015-05-13 22:26:24 -07:00
krunalchande 3d1b24ea01 Autoformatted code with Borg formatting. 2015-03-10 22:20:51 -04:00
krunalchande 91a4db655c Merge remote-tracking branch 'origin/develop' into fix/imubias_minus_operator 2015-03-10 18:18:28 -04:00
krunalchande 3750362b49 Test fails with incorrect imuBias operator-. 2015-03-10 18:16:45 -04:00
krunalchande 4f1eb63b02 Fixed naming in non-static data member. 2015-03-08 23:52:47 -04:00
krunalchande ab21ee9507 Made api backwards compatible. 2015-03-08 22:07:14 -04:00
krunalchande 736fce27db Test not needed for the purposes of the P.R 2015-03-08 15:35:01 -04:00
krunalchande 5d739ea904 Earlier refactor did not work correctly 2015-03-08 15:33:43 -04:00
krunalchande 6861b8dd01 reverted to previous gravity name 2015-03-08 15:31:02 -04:00
krunalchande a814534c92 Made ImuFactor Predict function static, which calls PreintegrationBase non-static member. Fixed to upper case Predict. 2015-03-08 15:23:20 -04:00
krunalchande 9a469ad25f Added function predict in ImuFactor and CombinedImuFactor. 2015-03-07 17:47:59 -05:00
krunalchande 2f27aa2d16 Added various unit tests for the class ImuBias. 2015-03-05 11:44:08 -05:00
krunalchande 04cf6686b4 Better noise values, little cleanup 2015-03-02 16:55:58 -05:00
krunalchande 77f69146f6 Unit test that fails! Bias estimated is opposite in direction for test bodyPSensorWithBias! 
Not equal:
expected:
.biasAcc [0 0 0]
expected:
.biasGyro [   0 0.01    0]
actual:
.biasAcc [-0.00012  3.6e-16  0.00015]
actual:
.biasGyro [-3.7e-18    -0.01 -3.6e-18]
 2015-03-02 15:14:05 -05:00
Luca bc379cc6b9 improved tests, and included correct jacobian when use2ndOrderIntegrationFlag is true 2015-01-11 16:04:03 -05:00
dellaert 4610019d89 Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits 
Conflicts:
	gtsam/navigation/AHRSFactor.cpp
	gtsam/navigation/CombinedImuFactor.cpp
	gtsam/navigation/ImuFactor.cpp
	gtsam/navigation/tests/testAHRSFactor.cpp
 2014-12-26 19:29:49 +01:00
dellaert a881e8d3ee Cherry-picked imuFixed differences 2014-12-26 18:23:14 +01:00
dellaert 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
dellaert 2ffa9dc6d2 Renamed old Rot3 methods 2014-12-24 11:36:06 +01:00
Mike Bosse 749eeaebf8 fixed testAHRSFactor 2014-12-22 13:56:19 +01:00
dellaert 00b374c9e9 Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits 
Conflicts:
	gtsam/base/LieScalar.h
	gtsam/geometry/Point2.h
 2014-12-21 14:39:23 +01:00
Mike Bosse 6e5dbcf2a3 flushing out more compilation errors in tests 2014-12-20 11:54:08 +01:00
Paul Furgale 37fc86b595 More slow progress. Added a variable-size specialization for OptionalJacobian 2014-12-16 12:30:11 +01:00
Luca 3ba04fba6b formatting changes 2014-12-02 15:12:51 -05:00
dellaert a12be48af0 Now use Matrix.h constants 2014-11-28 12:32:06 +01:00
Frank Dellaert c570f53e57 Merged in feature/BAD_using_charts (pull request #41) 
Working on a prototype of wrapping external types
 2014-11-24 19:01:58 +01:00
dellaert 15bcb70260 Merge remote-tracking branch 'origin/develop' into feature/AHRS_Polish 
Conflicts:
	gtsam/navigation/tests/testAHRSFactor.cpp
 2014-11-24 17:35:14 +01:00
Paul Furgale a8f942f19d Fixing the mag factor tests 2014-11-24 07:57:47 +01:00
Chris Beall 5246ce32d3 Merged in feature/stock_eigen_commainitializer (pull request #44) 
Revert Eigen to stock comma initializers
 2014-11-23 18:41:55 -05:00
Chris Beall 9244a4ee7e Windows fix - Rename test, conflicted with IMU factor 2014-11-23 15:36:17 -05:00
Richard Roberts f9ca07e610 Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax 2014-11-23 10:22:25 -08:00
dellaert db53c1b714 Major refactor from imuBias -> Vector3 bias. Might not be desirable. 2014-11-23 14:24:07 +01:00
dellaert c0c917620a Fixed dividers 2014-11-23 12:03:21 +01:00
dellaert bde567fd82 Fix unused warnings 2014-11-23 11:51:32 +01:00
dellaert f8b7f204fe Header discipline 2014-11-23 11:38:34 +01:00
dellaert 5ab5e008ba Doxygen docs and naming convention PreintMeasCov_ -> preintMeasCov_ 2014-11-23 11:36:05 +01:00
Richard Roberts aa093a35da Updated all comma initializer usages to use .finished() 2014-11-22 16:35:27 -08:00
krunalchande 056aed4419 Merge remote-tracking branch 'origin/develop' into feature/AHRSFactor 
Conflicts:
	gtsam/navigation/tests/testMagFactor.cpp
 2014-11-22 17:25:31 -05:00
dellaert db3126cd14 Fixed evaluateError signature (double -> const double&) 2014-11-22 22:31:28 +01:00
krunalchande 9230f4269b Changed return from Rot3 back to Matrix. Added imuBias in gtsam.h 2014-11-21 21:57:18 -05:00
krunalchande cef280d7c4 Working unit test for Predict 2014-11-21 20:56:43 -05:00
krunalchande 1ab1323a33 Added unit tests for Predict 2014-11-21 20:15:42 -05:00
krunalchande 1bc9f3ac06 Added unit tests 2014-11-21 19:39:46 -05:00
krunalchande ce5f7911c5 Changed access specifier of preintegrated measurement variables to protected. 2014-11-21 16:12:33 -05:00
krunalchande 4ee5674b2e fix numericalDerivative11 template 2014-11-19 13:15:12 -05:00
krunalchande e800ee3400 change LieScalar to double 2014-11-19 13:14:49 -05:00
krunalchande 881ecebfc9 Merge remote-tracking branch 'origin/develop' into feature/AHRSFactor 
Conflicts:
	gtsam.h
	gtsam/navigation/CombinedImuFactor.h
	gtsam/navigation/ImuFactor.h
 2014-11-19 13:10:33 -05:00
krunalchande 3ba997014d fixed the naming convention 2014-11-13 13:46:00 -05:00
krunalchande 8559fa9759 Fixed comments 2014-11-12 16:40:37 -05:00