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.
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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'
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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'
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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
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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'
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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'
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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"
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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
krunalchande
cbeall3
djensen3
Luca
Richard Roberts
jing
Frank Dellaert
Jing Dong
Chris Beall
Luca Carlone
Alex Cunningham
Stephen Williams