Frank Dellaert
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190e87afb9
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Correct exmap is indeed correct, but derivatives *still* do not check out. I'm starting to suspect numericalDerivative.
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2010-03-02 17:56:26 +00:00 |
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Frank Dellaert
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1093317fdc
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wedge
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2010-03-02 02:25:27 +00:00 |
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Frank Dellaert
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20ad08e48f
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new Pose3 derivatives still don't work :-(
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2010-03-01 01:35:33 +00:00 |
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Frank Dellaert
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dcfe52dae7
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some renaming of variables
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2010-02-28 09:08:47 +00:00 |
Richard Roberts
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b82d054aaa
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Definitions of Lie::between, Pose2::compose, expmap, and derivatives were not correct. Fixed, but changes some behavior (iSAM and CitySLAM already fixed), will send email about this change.
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2010-01-26 20:00:17 +00:00 |
Chris Beall
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a956c1a8be
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svn restored from 1733.
this commit updates gtsam to version 1774, which now appears as 1734.
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2010-01-16 01:16:59 +00:00 |
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Frank Dellaert
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6bcb9d08d6
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Unit tests for correct "Agrawal06iros" versions: they are indeed correct.
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2010-01-10 12:26:31 +00:00 |
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Frank Dellaert
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8d22b3aca2
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Just refactoring
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2010-01-08 03:38:05 +00:00 |
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Frank Dellaert
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f684becf1f
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Fixed Dbetween1
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2010-01-08 03:06:03 +00:00 |
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Richard Roberts
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19a3e228d7
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Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes.
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2010-01-08 00:40:17 +00:00 |
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Frank Dellaert
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ac72d1cc22
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renamed transformPose_to to transform_to, composeTransform to compose, and changed nr. of arguments of Dtransform_to2 (to two)
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2009-12-18 05:36:53 +00:00 |
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Frank Dellaert
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d5dc9ab9d1
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Composition is faster, composeTransform is trivial (and should probably go)
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2009-09-14 04:38:17 +00:00 |
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Richard Roberts
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d80fa24a9f
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Fixing directory structure
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2009-08-21 22:23:24 +00:00 |