dellaert
|
0310eb4e7b
|
Fixed compilation errors
|
2015-07-25 10:02:38 +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 |
|
Frank Dellaert
|
ef94ef35ee
|
Merged in feature/ImprovedLie2 (pull request #178)
Improved Lie derivatives
|
2015-07-24 17:48:39 +02:00 |
|
dellaert
|
5c67ceacac
|
Merge branch 'feature/NavState_new_retract' into feature/cleanup_ImuFactor
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2015-07-24 17:42:38 +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.
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2015-07-24 16:45:55 +02:00 |
|
dellaert
|
110a046fb6
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Fixed compile issue and tightened tolerances
|
2015-07-24 16:05:15 +02:00 |
|
dellaert
|
52f109640c
|
Merge remote-tracking branch 'origin/feature/ImprovedLie2' into feature/NavState_new_retract
Conflicts:
gtsam/base/Lie.h
|
2015-07-24 16:03:17 +02:00 |
|
dellaert
|
05dfcf2dbf
|
Added retract/logmap and commented more clearly
|
2015-07-24 15:32:27 +02:00 |
|
dellaert
|
e296f320f5
|
Inlined compose and between derivatives in expmap/logmap
|
2015-07-24 15:10:00 +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
|
0bb73bae9e
|
Comments
|
2015-07-23 16:59:26 +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
|
7ccfb95339
|
Favor fields not methods
|
2015-07-22 22:23:14 +02:00 |
|
dellaert
|
9b3c051ca1
|
Fied argument types
|
2015-07-22 22:22:31 +02:00 |
|
dellaert
|
a098289861
|
Moved fields to protected
|
2015-07-22 22:22:05 +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
|
4c177c0ce2
|
unrotate now defined for vector
|
2015-07-21 18:28:31 -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
|
2dbad989d1
|
Working Logmap !
|
2015-07-21 16:09:56 -04:00 |
|
dellaert
|
c7bc497014
|
Working Expmap
|
2015-07-21 11:36:28 -07:00 |
|
dellaert
|
1a47a334de
|
Deal with changes in Rot3
|
2015-07-21 11:23:42 -07:00 |
|
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
|
205d20d4dc
|
Rot3 action on Vector3, and templated constructor
|
2015-07-21 11:22:49 -07:00 |
|
dellaert
|
8a8503ee33
|
New retract. Still some bug in derivative
|
2015-07-20 21:40:58 -07:00 |
|
dellaert
|
814c170caa
|
Added reference, made documentation consistent
|
2015-07-20 20:57:47 -07:00 |
|
dellaert
|
6496bd49ed
|
Separate and much simplified computeError works
|
2015-07-20 09:16:57 -07:00 |
cbeall3
|
02c7b2b81d
|
made more generic, and comments
|
2015-07-20 11:46:18 -04:00 |
|
cbeall3
|
5e660198b6
|
make more generic so it can be used with StereoCamera, too
|
2015-07-20 11:45:54 -04:00 |
|
cbeall3
|
7ae31bd8e7
|
delete some unused stuff
|
2015-07-20 11:43:57 -04:00 |
|
dellaert
|
1ce6ab893d
|
predict derivative works !
|
2015-07-20 00:58:41 -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
|
a56c6e728b
|
Small refactor
|
2015-07-19 23:39:44 -07:00 |
|
dellaert
|
ee747604e7
|
No more MakeParams
|
2015-07-19 23:39:19 -07:00 |
|
dellaert
|
607fb4e37b
|
Merge remote-tracking branch 'origin/develop' into feature/cleanup_ImuFactor
|
2015-07-19 21:27:16 -07:00 |
|
dellaert
|
76abf553b0
|
biasCorrectedDelta and test of its derivatives
|
2015-07-19 21:24:38 -07:00 |
|
dellaert
|
1229ca6fee
|
OptionalJacobians
|
2015-07-19 21:24:17 -07:00 |