dellaert
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62ae58e7ea
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Quaternion header
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2014-12-07 19:13:02 +01:00 |
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dellaert
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10ae9f5505
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Easier to read with Cyclic<3>
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2014-12-07 18:55:49 +01:00 |
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dellaert
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481be10509
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A bit more compact
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2014-12-07 18:55:33 +01:00 |
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dellaert
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9194b92cf6
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Now work with MACROS instead - but get linking error. Upside (if we can fix that): uniform treatment between foreign types (see Quaternion) and GTSAM types (Cyclic). Downside: seems I had to create a different macro for different number of template arguments. Help?
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2014-12-07 18:41:18 +01:00 |
cbeall3
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bfd40014a2
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comma initialization
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2014-12-07 12:38:36 -05:00 |
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dellaert
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38a0842090
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Macros. Too ugly?
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2014-12-07 18:01:30 +01:00 |
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dellaert
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19c38b91ee
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Finish CRTP in Cyclic
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2014-12-07 15:59:31 +01:00 |
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dellaert
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ef58a8a56a
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Attempt at satisfying Group concept by deriving from base class. Needs to be fixed, also, test does not link :-(
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2014-12-07 13:24:59 +01:00 |
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dellaert
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022e930085
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Fixed typo
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2014-12-07 13:23:59 +01:00 |
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dellaert
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e0e2a9b063
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Eigen::Quaternions now satisfy IsManifold, IsGroup, and IsLieGroup! Also reverted back to a simpler treatment of Charts.
Merge branch 'traits/quaternion' into feature/tighteningTraits
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2014-12-07 13:06:32 +01:00 |
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dellaert
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cdc0029158
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Reverted on Chart base class. But no chart-specific traits needed, as assumed created by us.
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2014-12-07 13:01:25 +01:00 |
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dellaert
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a31e596448
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Working local/Logmap (taken from Rot3Q)
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2014-12-07 12:47:26 +01:00 |
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dellaert
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36da8702f9
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Retract works
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2014-12-07 12:35:17 +01:00 |
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dellaert
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8db8cb54b0
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Some chart refinement (early check does not work)
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2014-12-07 12:35:05 +01:00 |
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dellaert
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e2f250c160
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Added Manifold, Lie Group, and Vector Space concepts back in
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2014-12-07 11:52:09 +01:00 |
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dellaert
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01aab77504
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Made Testable a boost concept
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2014-12-07 11:51:40 +01:00 |
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dellaert
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187760ce95
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Refactor for readability
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2014-12-07 10:20:54 +01:00 |
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dellaert
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3a6b89e840
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Now all Eigen::Quaternion flavors are certified as IsGroup
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2014-12-07 10:19:38 +01:00 |
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dellaert
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06640cc414
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New naming convention for concept (IsGroup), moved invariant checking out to namespace
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2014-12-07 09:48:31 +01:00 |
lvzhaoyang
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b881135f53
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fix TransformProjectionFactorExample.m
But there is a issue that optimizer doesn't generate the trajectory. Will fix it later.
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2014-12-07 00:57:32 -05:00 |
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lvzhaoyang
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3943ce0d25
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fix TransformProjectionFactorExampleISAM
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2014-12-07 00:53:08 -05:00 |
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lvzhaoyang
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bd2b92b75d
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Small fix, but now have the same priorFactorVector issue as IMUKittiExampleGPS
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2014-12-07 00:50:10 -05:00 |
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lvzhaoyang
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9dfd6a10e6
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Fix TransformCalProjectionFactorExampleISAM.m
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2014-12-07 00:47:03 -05:00 |
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lvzhaoyang
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240a9592b9
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A wrong commit of last smartRangeFactor.m Now fixed.
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2014-12-07 00:41:12 -05:00 |
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lvzhaoyang
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a8811beb31
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Fix testSAMFactors
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2014-12-07 00:39:27 -05:00 |
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lvzhaoyang
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11e83437e7
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fix smartRangeFactorExample.m
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2014-12-07 00:36:36 -05:00 |
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lvzhaoyang
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2371600c63
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fix the plot_projected_landmarks.m project_landmarks.m
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2014-12-07 00:31:48 -05:00 |
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lvzhaoyang
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fa4bfbfbc5
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Fix the example data reading,
but KittiGps_metadata.txt, KittiRelativePose_metadata.txt, KittiRelativePose.txt don't exists in gtsam/examples/data directory
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2014-12-07 00:29:30 -05:00 |
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lvzhaoyang
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924a8d6670
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Fix plot_projected_landmarks.m project_landmarks.m
Haven't finish FlightCameraTransformIMU.m, stuck at TransformCalProjectionFactorCal3_S2
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2014-12-07 00:23:17 -05:00 |
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lvzhaoyang
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615709dd49
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fix MonocularVOExample.m
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2014-12-06 23:25:53 -05:00 |
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lvzhaoyang
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a67289b240
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fix the insert simpleCamera. Now SFMexample can work
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2014-12-06 23:18:15 -05:00 |
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lvzhaoyang
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87ae297dad
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just make sure it can compile and run. Will come back to fix it
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2014-12-06 23:13:09 -05:00 |
Luca
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792d2656d0
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using cross product instead of skewSymm matrix in predict
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2014-12-06 19:13:02 -05:00 |
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Luca
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d46224e8a1
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added const and changed name in updatePreintegratedMeasurements to "omegaCoriolisHat" to comply with notation in "predict"
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2014-12-06 19:04:41 -05:00 |
krunalchande
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943a18b124
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Fixed confusion in naming.
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2014-12-06 17:42:07 -05:00 |
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dellaert
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e1c1d788c0
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Quaternions are a group (test compiles, at least)
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2014-12-06 18:01:13 +01:00 |
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dellaert
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491fd91af6
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Fixed compile problem.
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2014-12-06 14:28:39 +01:00 |
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dellaert
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d1fec1a90d
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Reverted moste changes in .cproject
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2014-12-06 13:17:44 +01:00 |
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dellaert
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2e86da1096
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Merge branch 'feature/groups' into feature/tighteningTraits
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2014-12-06 13:12:44 +01:00 |
|
dellaert
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614bfeb9d3
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Moved to headers
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2014-12-06 13:11:56 +01:00 |
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dellaert
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4d2a0aefc1
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Group checks out !
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2014-12-06 12:59:35 +01:00 |
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dellaert
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6c2b28aa8b
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between tested
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2014-12-06 12:50:40 +01:00 |
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dellaert
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5407232e36
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between and inverse, as well as tag dispatching
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2014-12-06 11:51:44 +01:00 |
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dellaert
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ddeb764912
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group::traits, and group::compose
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2014-12-06 11:37:14 +01:00 |
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dellaert
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07ef30039a
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structure_tag works
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2014-12-06 11:17:54 +01:00 |
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dellaert
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71e77b8c87
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Compiles
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2014-12-06 10:58:16 +01:00 |
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dellaert
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6f82458bee
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Trying to firm things up by having a small unit test for cyclic groups.
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2014-12-06 10:17:35 +01:00 |
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dellaert
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0ea2e5efe4
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Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits
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2014-12-06 09:20:13 +01:00 |
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Frank Dellaert
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8cc26c759d
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BIG CHANGE: the OptionalJacobian<M,N> obviates the need for the `optional<Matrix&> Jacobian arguments. They will continue to exist, for backwards compatibility, in the old-style factors, but everywhere else they should disappear. This PR by Natesh has eradicated all but one in gtsam/geometry. Great job !!!!
Merged in feature/fixedSizeDerivatives (pull request #54)
Proposed way to do Jacobians from now on via Eigen::Ref like type
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2014-12-05 22:54:36 +01:00 |
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dellaert
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468aa5d6b6
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Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives
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2014-12-05 22:23:12 +01:00 |