Duy-Nguyen Ta
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444ab957c4
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a numerical derivative version for DiscreteEulerPoincare'Factor, but currently disabled.
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2013-05-01 17:30:21 +00:00 |
Alex Cunningham
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9e2b11800a
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Moved LabeledSymbol from MastSLAM with some key-related utilities
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2013-04-30 18:41:06 +00:00 |
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Alex Cunningham
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62f6089119
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Updated matlab wrapping for moved factors
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2013-04-30 17:50:48 +00:00 |
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Alex Cunningham
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a069d24374
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Moved PoseRotationPrior, PoseTranslationPrior and ReferenceFrameFactor to gtsam.slam
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2013-04-30 17:50:47 +00:00 |
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Duy-Nguyen Ta
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84ababc653
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wrap SimpleHelicopter factors and fix a bug in noisemodel dimension
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2013-04-30 17:21:42 +00:00 |
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Duy-Nguyen Ta
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7256c88bbd
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change Pose2::adjointMap and adjoint to Pose2::AdjointMap and Adjoint to make it consistent with Pose3 and standard Lie group notation
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2013-04-30 17:20:23 +00:00 |
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Duy-Nguyen Ta
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723ff2c9ad
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add GTSAM_POSE3_EXPMAP option to CMakeLists and config.h.in to let users specify POSE3_DEFAULT_COORDINATES_MODE before compilation.
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2013-04-30 17:17:51 +00:00 |
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Duy-Nguyen Ta
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e4b29b8d8b
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move print function to cpp file for LieVector to solve the "same-name-different-type" problem in matlab wrapper.
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2013-04-30 17:15:42 +00:00 |
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Duy-Nguyen Ta
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26c63ec122
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increase tolerance in TEST( testPoseRTV, Lie )
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2013-04-29 23:35:08 +00:00 |
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Duy-Nguyen Ta
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104ad15e91
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Separate adjointMap, which returns a matrix, and adjoint+adjointTranspose actions on a vector with optional derivatives. Also, change dExpInv_TLN to dExpInv_exp with higher order of approximation
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2013-04-29 21:22:33 +00:00 |
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Alex Cunningham
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26f5f93c60
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Added Pose3::align() for labeled correspondences. Fixed depreciated make targets.
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2013-04-29 18:06:33 +00:00 |
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Duy-Nguyen Ta
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e4a9c398c8
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Factor for Discrete Euler Poincare' equation in SE3 for Simple Helicopter dynamics with correct dertivatives
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2013-04-29 17:21:13 +00:00 |
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Alex Cunningham
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224be276e4
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Added a new summarization convenience function and cleaned up documentation
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2013-04-26 18:27:22 +00:00 |
Richard Roberts
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34730a92cc
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Fixed problem with system eigen include path
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2013-04-25 19:12:25 +00:00 |
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Alex Cunningham
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d8034f73c5
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Added install commands for generated header files
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2013-04-25 18:40:21 +00:00 |
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Alex Cunningham
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2b7d173c22
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Added include path for generated headers when wrapping
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2013-04-25 18:24:41 +00:00 |
Stephen Williams
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009012005e
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Removed VariableIndex from the class members as it was often left in an inconsistent state
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2013-04-25 18:12:05 +00:00 |
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Stephen Williams
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1e1dfdd808
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Updated BatchFixedLagSmoother to use the latest version of optimization and marginalization code
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2013-04-25 18:10:21 +00:00 |
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Richard Roberts
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fe07dee964
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Moved system eigen switch to top-level CMakeLists so that it's used in all files
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2013-04-25 16:32:06 +00:00 |
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Richard Roberts
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58bade6aa3
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Switched constants to macros to avoid unused variable warnings
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2013-04-25 16:32:05 +00:00 |
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Richard Roberts
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eeef9eab32
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Generating config.h file in CMake with quaternion mode flag, dataset paths. Also added CMake option to use system-installed Eigen, which works by generating a global eigen include file containing the corresponding include paths.
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2013-04-25 15:57:15 +00:00 |
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Richard Roberts
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5f3238634d
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Added missing GTSAM_UNSTABLE_EXPORT tag
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2013-04-25 15:57:06 +00:00 |
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Alex Cunningham
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38af960c53
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removed commented line
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2013-04-24 17:34:49 +00:00 |
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Alex Cunningham
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1c17065376
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Removed unnecessary templated traits from partial pose priors - now uses rotationInterval and translationInterval
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2013-04-24 17:34:48 +00:00 |
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Richard Roberts
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124a38f72d
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Made unit test local vars/functions in anonymous namespace
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2013-04-22 17:44:09 +00:00 |
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Richard Roberts
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dd84ffcc8e
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Fix in Rot3Q constructor
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2013-04-22 17:44:07 +00:00 |
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Richard Roberts
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bd38ae5c68
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Added Alex as author
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2013-04-22 17:44:06 +00:00 |
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Richard Roberts
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82c8fffd28
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Added missing dllexport in LieScalar
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2013-04-22 17:44:05 +00:00 |
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Duy-Nguyen Ta
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cde44b2952
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Finally finish implementing the Reconstruction factor for updating the poses of holonomic vehicles using discrete variational integrators (eq. 10 in [Kobilarov09siggraph]). Also, better approximation for the derivative of the inverse expmap wrt the lie algebra in Pose3. Test with numericalderivative.
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2013-04-22 08:34:40 +00:00 |
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Duy-Nguyen Ta
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b1b05887fc
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allow method starting with uppercase letter to be wrapped in matlab. Wrap Pose3's AdjointMap and Adjoint operator
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2013-04-21 19:29:41 +00:00 |
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Duy-Nguyen Ta
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96f9ecaf53
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Change "adjoint" and "adjoint_map" to Adjoint and Adjoint_map, since they correspond to Lie group's Ad operator. Implement the Lie algebra's adjoint operator, aka Lie bracket, and the inverse right-trivialized tangent map of the exponential map using the trapezoidal Lie-Newmark scheme, as detailed in [Kobilarov09siggraph]
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2013-04-21 05:50:07 +00:00 |
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Stephen Williams
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c1f14d60be
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Purged unused code
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2013-04-19 12:16:18 +00:00 |
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Stephen Williams
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201ca3da9e
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Removed debug print statement
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2013-04-19 12:16:04 +00:00 |
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Stephen Williams
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3eade960b8
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Fixed bugs in marginal generation. It is possible that the marginalization will be "perfect", resulting in no marginal factor. However, a factor was being created anyway.
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2013-04-19 12:13:43 +00:00 |
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Stephen Williams
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584f5c6c8c
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Fixed typos in class names
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2013-04-18 21:01:44 +00:00 |
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Alex Cunningham
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88d3def0db
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Added assert_inequal for matrices
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2013-04-18 18:12:37 +00:00 |
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Richard Roberts
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ddea66e026
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Disabled additional msvc warnings
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2013-04-18 17:41:56 +00:00 |
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Richard Roberts
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31cbc7c826
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relax two test criterion from 1e-5 to 2e-3 so they pass on Ubuntu VM
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2013-04-18 17:41:55 +00:00 |
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Duy-Nguyen Ta
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541d416c84
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comment for VelocityConstraint3::evaluateError
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2013-04-17 21:25:15 +00:00 |
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Duy-Nguyen Ta
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494885bf1d
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factors for the pendulum discrete mechanics in position-momentum form to use with variational integrator
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2013-04-16 19:07:59 +00:00 |
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Alex Cunningham
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6b87b9d307
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comments only
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2013-04-16 16:52:21 +00:00 |
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Stephen Williams
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6ffe6a08df
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Fixed bug in LinearContainerFactor only present during relinearization
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2013-04-16 14:58:09 +00:00 |
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Duy-Nguyen Ta
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37d244e49b
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fix bug in PendulumFactor2's jacobian
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2013-04-16 02:17:19 +00:00 |
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Duy-Nguyen Ta
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6a139bd0f8
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Factors for the simple Pendulum dynamics for being used with explicit/implicit/sympletic Euler integrators as in [Stern06siggraph]
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2013-04-15 21:31:47 +00:00 |
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Stephen Williams
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c2fb82b935
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Added matlab wrapping for Fixed-Lag Smoothers and Concurrent Filters and Smoothers
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2013-04-15 19:54:46 +00:00 |
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Stephen Williams
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f216e97a15
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Modified the getter method in the FixedLagSmoother base class to follow general GTSAM conventions
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2013-04-15 17:53:33 +00:00 |
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Alex Cunningham
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6804ef77b1
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Removing limitation on precision in Pose2::print()
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2013-04-15 16:35:13 +00:00 |
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Stephen Williams
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41238572c1
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Extended the Concurrent Filtering and Smoothing example to include a delayed loop closure
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2013-04-15 16:07:40 +00:00 |
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Duy-Nguyen Ta
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ed1f5f7576
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add cpp file for LieScalar. Try to debug the "same-name-different-type" problem in matlab wrapper.
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2013-04-12 15:43:36 +00:00 |
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Stephen Williams
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693a0f991a
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Added the Filter<->Smoother synchronization back into the example
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2013-04-12 13:05:52 +00:00 |