3cdf8973d4
Monte Carlo analysis
2015-07-30 22:50:06 -07:00
cefc441fba
bodyVelocity and working update derivatives
2015-07-30 09:39:25 -07:00
13f8935c52
update prototype
2015-07-30 08:05:39 -07:00
9c35c931f6
Modernized test
2015-07-29 21:53:18 -07:00
aebe8161dd
Strengthened AHRS tests
2015-07-29 16:14:42 -07:00
75cc3020eb
Fixed all but sensor_pose error
2015-07-29 12:01:22 -07:00
2a9e1db4cb
Merge branch 'feature/cleanup_ImuFactor' into noiseModelMixup
2015-07-29 11:54:16 -07:00
9d1111a767
Derivative accuracy
2015-07-29 11:53:24 -07:00
999a19a57d
More tests on localCoordinates
2015-07-29 11:52:46 -07:00
5ca67d0a3a
FromPoseVelocity
2015-07-29 11:20:35 -07:00
5b9bf9affa
Fix the noise covariances to conform to new error order...
2015-07-29 15:43:42 +02:00
8992cf7832
Merge branch 'regression_test' into feature/cleanup_ImuFactor
...
Conflicts:
gtsam/navigation/tests/testImuFactor.cpp
2015-07-27 19:05:55 +02:00
2007391987
Better test, with 2nd order integration
2015-07-27 18:35:56 +02:00
b1ec4d5876
Merge branch 'regression_test' into feature/cleanup_ImuFactor
...
Conflicts:
gtsam/navigation/tests/testImuFactor.cpp
2015-07-27 16:17:05 +02:00
11d0ad0d78
Covariance regression values
2015-07-27 16:12:41 +02:00
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
18ff25b67f
Cleaned up test while reading it
2015-07-25 17:34:16 +02:00
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
670781231c
Fixed derivative of biasCorrectedDelta
2015-07-24 17:40:35 +02:00
7ebcb4c18f
Replaced large complicated original function with just a call to localCoordinates.
2015-07-24 16:45:55 +02:00
7a78d54fc3
derivatives for Local and localCoordinates
2015-07-24 14:43:06 +02:00
9bcdf972f8
Asserting that computeError is just localCoordinates
2015-07-24 14:17:46 +02:00
77d8e7d0bd
All tests pass now !
2015-07-24 13:39:50 +02:00
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
c6b68e6795
No more second-order integration flag
2015-07-23 17:08:19 +02:00
de76314488
Straight line example, including finding defect in using first-order approximation
2015-07-23 14:21:29 +02:00
85085e882d
Removed Lie tests (now in testNavState)
2015-07-22 22:24:53 +02:00
a99911b997
Now uses NavState::predict !
2015-07-22 22:24:19 +02:00
8ae4e2afd9
A fully functioning predict from preintegrated tangent vector
2015-07-22 17:46:03 +02:00
2a38ed9603
Additive version for coriolis forces
2015-07-22 01:01:19 -04:00
eb42a57860
Merge branch 'regression_test' into feature/NavState_new_retract
...
Conflicts:
gtsam/navigation/tests/testImuFactor.cpp
2015-07-22 00:42:06 -04:00
0ced228413
Regression test for predict with arbitrary measurements
2015-07-22 00:36:32 -04:00
a9b4cdbe47
coriolis now lives in NavState
2015-07-22 00:19:08 -04:00
4dbe5e68d2
Component access derivatives
2015-07-21 18:28:02 -04:00
2dd7987478
Working AdjointMap and hence also derived derivatives of retract/localCoordinates
2015-07-21 16:25:58 -04:00
4c8c669d71
Moved NavState to its own header and totally revamped as a semi-direct product
2015-07-21 11:23:24 -07:00
8a8503ee33
New retract. Still some bug in derivative
2015-07-20 21:40:58 -07:00
3a941a0ef4
NavState retract derivatives
2015-07-20 00:55:34 -07:00
2df20b4f37
Second order coriolis done
2015-07-19 23:58:06 -07:00
5f6d3a600f
First order coriolis derivatives
2015-07-19 23:40:20 -07:00
76abf553b0
biasCorrectedDelta and test of its derivatives
2015-07-19 21:24:38 -07:00
9382641445
Use constants, slight renaming
2015-07-19 01:52:53 -07:00
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
55269d642c
Fixed order of components in error to match RTV order
2015-07-17 15:34:58 -07:00
61c58c6fa6
Fixed naming convention
2015-07-17 15:33:20 -07:00
e7c2e81831
Re-formatted to BORG-style
2015-07-15 23:24:24 -07:00
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
4015fba225
Fix system-installed GeographicLib detection and run tests.
2015-05-24 19:15:37 -04:00
b01eb4e960
Added a test for PoseVelocityBias
2015-05-23 17:49:52 -07:00
69c0d68891
Removed a lot of copy paste, use factorTesting macro
2015-05-23 17:30:36 -07:00
28d48aae09
Fix for boost 1.58
2015-05-20 21:45:09 -04:00
13a4da21b2
misc bugfixes and cleanup from skydio
2015-05-13 22:26:24 -07:00
3d1b24ea01
Autoformatted code with Borg formatting.
2015-03-10 22:20:51 -04:00
91a4db655c
Merge remote-tracking branch 'origin/develop' into fix/imubias_minus_operator
2015-03-10 18:18:28 -04:00
3750362b49
Test fails with incorrect imuBias operator-.
2015-03-10 18:16:45 -04:00
4f1eb63b02
Fixed naming in non-static data member.
2015-03-08 23:52:47 -04:00
ab21ee9507
Made api backwards compatible.
2015-03-08 22:07:14 -04:00
736fce27db
Test not needed for the purposes of the P.R
2015-03-08 15:35:01 -04:00
5d739ea904
Earlier refactor did not work correctly
2015-03-08 15:33:43 -04:00
6861b8dd01
reverted to previous gravity name
2015-03-08 15:31:02 -04:00
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
9a469ad25f
Added function predict in ImuFactor and CombinedImuFactor.
2015-03-07 17:47:59 -05:00
2f27aa2d16
Added various unit tests for the class ImuBias.
2015-03-05 11:44:08 -05:00
04cf6686b4
Better noise values, little cleanup
2015-03-02 16:55:58 -05:00
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
bc379cc6b9
improved tests, and included correct jacobian when use2ndOrderIntegrationFlag is true
2015-01-11 16:04:03 -05:00
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
a881e8d3ee
Cherry-picked imuFixed differences
2014-12-26 18:23:14 +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
2ffa9dc6d2
Renamed old Rot3 methods
2014-12-24 11:36:06 +01:00
749eeaebf8
fixed testAHRSFactor
2014-12-22 13:56:19 +01:00
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
6e5dbcf2a3
flushing out more compilation errors in tests
2014-12-20 11:54:08 +01:00
37fc86b595
More slow progress. Added a variable-size specialization for OptionalJacobian
2014-12-16 12:30:11 +01:00
3ba04fba6b
formatting changes
2014-12-02 15:12:51 -05:00
a12be48af0
Now use Matrix.h constants
2014-11-28 12:32:06 +01:00
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
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
a8f942f19d
Fixing the mag factor tests
2014-11-24 07:57:47 +01:00
5246ce32d3
Merged in feature/stock_eigen_commainitializer (pull request #44 )
...
Revert Eigen to stock comma initializers
2014-11-23 18:41:55 -05:00
9244a4ee7e
Windows fix - Rename test, conflicted with IMU factor
2014-11-23 15:36:17 -05:00
f9ca07e610
Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax
2014-11-23 10:22:25 -08:00
db53c1b714
Major refactor from imuBias -> Vector3 bias. Might not be desirable.
2014-11-23 14:24:07 +01:00
c0c917620a
Fixed dividers
2014-11-23 12:03:21 +01:00
bde567fd82
Fix unused warnings
2014-11-23 11:51:32 +01:00
f8b7f204fe
Header discipline
2014-11-23 11:38:34 +01:00
5ab5e008ba
Doxygen docs and naming convention PreintMeasCov_ -> preintMeasCov_
2014-11-23 11:36:05 +01:00
aa093a35da
Updated all comma initializer usages to use .finished()
2014-11-22 16:35:27 -08:00
056aed4419
Merge remote-tracking branch 'origin/develop' into feature/AHRSFactor
...
Conflicts:
gtsam/navigation/tests/testMagFactor.cpp
2014-11-22 17:25:31 -05:00
db3126cd14
Fixed evaluateError signature (double -> const double&)
2014-11-22 22:31:28 +01:00
9230f4269b
Changed return from Rot3 back to Matrix. Added imuBias in gtsam.h
2014-11-21 21:57:18 -05:00
cef280d7c4
Working unit test for Predict
2014-11-21 20:56:43 -05:00
1ab1323a33
Added unit tests for Predict
2014-11-21 20:15:42 -05:00
1bc9f3ac06
Added unit tests
2014-11-21 19:39:46 -05:00
ce5f7911c5
Changed access specifier of preintegrated measurement variables to protected.
2014-11-21 16:12:33 -05:00
4ee5674b2e
fix numericalDerivative11 template
2014-11-19 13:15:12 -05:00
e800ee3400
change LieScalar to double
2014-11-19 13:14:49 -05:00
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
3ba997014d
fixed the naming convention
2014-11-13 13:46:00 -05:00
8559fa9759
Fixed comments
2014-11-12 16:40:37 -05:00
da3677e704
No more LieVector/LieScalar
2014-11-03 13:52:08 +01:00
b5327673fb
Get rid of LieVector
2014-11-03 11:02:15 +01:00
113b9d2e74
Got rid of unnecessary LieVector usage that broke fixed-code
2014-10-22 01:32:59 +02:00
1eb5e185e5
New numericalDerivatives with traits an Charts - still some segfaults, *and* there should be no need for (a) multiple prototypes to match against c++ pointers, (b) the use of explicit template arguments. A task for someone...
2014-10-21 18:50:52 +02:00
cf4374563b
Fixed Dynamics Factor and added debug cout statements to help fix indeterminent linear system exception
2014-10-14 18:08:26 -04:00
4d50156ff1
Actually accelerometer and gravity has no place in the AHRS factor. Basically this factor integrates rotations based on gyroscope data.
...
Removed all of acc and gravity things.
2014-07-14 23:40:30 -04:00
73ec571f4b
Added another test, fixed a bug in the factor w.r.t initializing measurement covariance.
2014-07-14 23:14:02 -04:00
b721a7ce1f
Added tests in testAHRSFactor and corrected AHRSFactor so that it works.
...
added target in .cproject.
Note that not all tests work. In particular the IMUbias jacobian fails because the dimensions of expected and actual are different.
2014-07-12 23:45:46 -04:00
a34dff1397
Merge remote-tracking branch 'origin/feature/new_imu_factors' into develop
2014-06-20 13:32:34 -04:00
2daeae2438
GeographicLib now works on Windows
2014-05-03 17:26:07 -04:00
4ad4f9d68e
removed unnecessary parameter from constructor
2014-04-29 15:13:28 -04:00
d3333c1c85
Fix errors on Windows with VS 2010
2014-04-17 22:07:55 -04:00
2843266496
update to IMU factors (included flag to include 2nd order terms in integration)
2014-03-25 16:31:51 -04:00
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
42d5399b44
Added a flag for installing GeographicLib, and logic for using the built-in or installed GeographicLib, and disabling relevant unit tests in case GeographicLib is unavailable.
2014-02-25 15:46:25 -05:00
6962072301
moved Jacobians on SO3 to Rot3
2014-02-24 14:00:14 -05:00
4c5cb4d8ec
Removed some unused code that was causing warnings
2014-02-23 18:51:48 -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
661a157553
Working on standardizing/simplifying building unit tests and examples. Much simpler cmake function to add a glob of tests, doing away with convenience libraries, and removing other options that we never change from their defaults.
2014-02-13 01:34:31 -05:00
1d5da1c35e
Changed to Point3, which makes much more sense
2014-02-02 22:43:00 -05:00
7169c127fa
Created common base class
2014-02-01 19:05:23 -05:00
d0ee9c662d
Switched to Rot3 and added Pose3 version
2014-02-01 17:44:58 -05:00
a48c72ff63
Fixed sign of 2D version
2014-02-01 10:33:17 -05:00
5369a7bd17
Simplify by storing s*dir
2014-02-01 10:29:03 -05:00
6d16ebf68d
Moved from Vector3/LieVector to Point3. I have mixed feelings about this. Wondering (again) whether Point3 ought to *be* a Vector3 after all.
2014-02-01 09:31:22 -05:00
419de466c0
Moved to header
2014-02-01 00:51:52 -05:00
f6731fe559
More efficient derivative
2014-02-01 00:50:03 -05:00
f6a733fb3e
Prototype MagFactor
2014-02-01 00:37:03 -05:00
fd6eb2b129
Added MagFactor that solves for rotation, now called 1,2,3, with respectively 1,2,3 arguments to factor.
2014-01-30 00:58:15 -05:00
46c266f8e5
Header file
2014-01-29 21:22:00 -05:00
2775bb9381
MagFactor scaffold
2014-01-29 21:16:43 -05:00
326876fe9d
Fixed dimension of noise model; caught by @atrevor
2014-01-29 16:50:16 -05:00
8fbab3bde8
Changed API slightly and made very clear what is measurement (typically in nav frame) and what is reference direction (typically in body frame)
2014-01-29 13:34:52 -05:00
344ef7801e
New AttitudeFactor is useful for aiding with an accelerometer
2014-01-28 19:43:44 -05:00
ff83094b5c
EXPECT not CHECK
2014-01-28 19:43:19 -05:00
40f1858fd8
Fixed some things in GPSFactor
2014-01-28 16:24:59 -05:00
6bda38583f
EstimateState
...
Also, some more comments, and cpp file
2014-01-28 15:46:18 -05:00
16071f5360
Fixed Jacobians
2014-01-25 21:20:18 -05:00
f924c21c19
Added test for Jacobian
2014-01-25 21:11:37 -05:00
c06ecb4f49
Merge branch 'origin/release/2.4.0'
2014-01-25 20:51:00 -05:00
60f0c4e51f
Tested local ENU coordinates
2014-01-25 20:32:22 -05:00
94e045e864
Convert to UTM
2014-01-25 19:45:10 -05:00
32455c3817
Geocentric coordinates test
2014-01-25 19:28:55 -05:00
73b3748bc6
enu coordinates
2014-01-25 18:57:10 -05:00
bcb13ec4e6
Expected result
2014-01-25 18:28:45 -05:00
ee018ecbee
Added unit test scaffold, but no idea how to link
2014-01-25 18:22:23 -05:00
8e96f6a0d4
Checked in proposed change to *any* cartesian frame
2014-01-24 16:18:08 -05:00
3476264e21
Added test scaffold and prototype
2014-01-24 16:06:48 -05:00
96296333ae
remove all LieVector(size_t m, ...), which doesn't check parameter's type and it's also dangerous
2014-01-23 18:35:29 -05:00
0dc1eac55c
Merged changes from the trunk back into navigation and slam. Needed some data files for tests, as well.
...
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/branches/2.4@20423 898a188c-9671-0410-8e00-e3fd810bbb7f
2013-12-21 18:34:23 -05:00
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
dd3a98464a
Fix Vector_() to Vec() in gtsam/navigation
2013-10-21 05:15:48 +00:00
e799c9ffa9
tabs converted to two spaces
2013-10-10 17:52:57 +00:00
c04ceed07b
Commented out print statements in unit test
2013-08-19 21:04:36 +00:00
4b12d6f794
Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization
2013-08-19 15:32:16 +00:00
c806d88ff1
Commented out print statements in unit test
2013-08-16 21:57:48 +00:00
16b4f0fe8b
Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable.
2013-08-13 21:04:31 +00:00
4b3021b818
Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable.
2013-08-13 21:03:48 +00:00
4585fd1caa
Merge branch 'svn/trunk'
...
Conflicts:
gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp
gtsam/nonlinear/ISAM2.cpp
gtsam/nonlinear/ISAM2.h
gtsam/slam/tests/testBetweenFactor.cpp
gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
gtsam_unstable/slam/SmartProjectionFactor.h
2013-08-11 18:16:56 +00:00
a4276eb57a
Fixed small compile error
2013-08-08 20:45:44 +00:00
e2f8dd866d
Merge branch 'svn/trunk'
...
Conflicts:
gtsam/linear/GaussianBayesTree.cpp
gtsam/linear/GaussianBayesTree.h
gtsam/linear/VectorValues.h
gtsam/linear/tests/testVectorValues.cpp
gtsam_unstable/nonlinear/sequentialSummarization.cpp
2013-08-06 18:33:24 +00:00
b0c25f2668
Split timing benchmark that had appeared inside a test to a separate timing script
2013-08-06 18:30:27 +00:00
34dc67c1af
Brought some relevant changes from aspn-imu-factor branch (is correct this time)
2013-08-02 16:04:17 +00:00
321a286f02
Revert "Brought some relevant changes from aspn-imu-factor branch"
...
This reverts commit b08a11ffb27d14487115f20745f1cea17fcc55ee.
2013-07-31 15:26:48 +00:00
7345b40feb
Brought some relevant changes from aspn-imu-factor branch
2013-07-31 15:25:03 +00:00
1b92828cc8
Fixed path
2013-07-29 23:54:40 +00:00
d5e721a1d0
Continued work on unordered classes and elimination algorithm
2013-06-06 15:36:11 +00:00
5bd9ffc49e
Changed EquivNavFactor test from '.h' to '.cpp' so it will actually work
2013-05-08 13:23:27 +00:00
31cbc7c826
relax two test criterion from 1e-5 to 2e-3 so they pass on Ubuntu VM
2013-04-18 17:41:55 +00:00
35cebaa873
Moved inertial nav factors and unit tests to gtsam/navigation
2013-04-09 20:04:10 +00:00
dellaert
Frank Dellaert
cbeall3
Abe
krunalchande
Luca
Mike Bosse
Paul Furgale
Richard Roberts
djensen3
jing
Frank Dellaert
Jing Dong
Chris Beall
Luca Carlone
Alex Cunningham
Stephen Williams