Alex Cunningham
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fa954ab55e
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Added version of transform_from and transform_to to Pose3 with optional derivatives
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2010-05-18 14:51:09 +00:00 |
Frank Dellaert
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f217a5bd8a
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I reverted back to the old expmap in Pose3 :-( It does not work well for Urban, and now it turns out Yong-Dian has problems, too. It seems there is still something that we do not quite understand about the whole Lie group optimization business. If you want to run with the new expmap, define CORRECT_POSE3_EXPMAP
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2010-03-12 19:16:53 +00:00 |
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Frank Dellaert
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26304b749a
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MAJOR: I made the correct Pose3 expmap the default. It turns out that all but the transform_to derivatives were in fact correct (and I fixed transform_to based on new math in math.lyx), but there was still a wrong expmap and logmap in the header file that I forgot about. I now moved those the te cpp file. The new code, which executes a correct "screw motion" for the exponential map, is now linked in by default. If you want the old, incorrect behavior, configure with FASTER_BUT_INCORRECT_EXPMAP defined. Note that the old code is faster per expmap, but *converges* faster (and to a deeper minimum) and hence is faster overall in many cases.
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2010-03-11 21:52:24 +00:00 |
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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 |