Alex Cunningham
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23a30f8475
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Removed remaining global lie functions on lie objects and configs, switched the Lie base class to a simple concept check function, fixed build script for examples. ISAM2 and MastSLAM verified as compiling.
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2010-08-26 19:55:40 +00:00 |
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Alex Cunningham
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eed13e48d2
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Switched to using LieVectors for vector types. Still some problems with numericalDerivative that have been worked around, but other functionality is intact.
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2010-08-24 17:26:56 +00:00 |
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Alex Cunningham
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77eda5ab8c
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In all nonlinear factors and configs, it is only necessary to specify a key with a typedef Value_t for the associated value. This has been removed from factor template definitions, as it is too easy to use the wrong value. Also, no more string keys or linear symbol keys in nonlinear systems. Updated MastSLAM to work, and ISAM2 works without change
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2010-08-23 19:44:17 +00:00 |
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Alex Cunningham
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458cc52fff
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Switched geometry to use primarily member functions for calculations with optional derivatives, so there are no more optional derivative functions. Also split Vector specializations for Lie into gtsam/base/LieVector.h which will later change into a real wrapper function. Specialized numericalDerivative to allow for functions to return doubles. Projects ISAM2, MastSLAM updated.
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2010-08-22 21:45:53 +00:00 |
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Alex Cunningham
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256697d345
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Moved transform_[to|from] and [un]rotate to be static functions in classes
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2010-08-20 21:47:30 +00:00 |
Richard Roberts
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f1132359d4
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Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs)
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2010-08-19 17:23:19 +00:00 |
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Alex Cunningham
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1c72d92365
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Moved TransformConstraint into gtsam, cleaned up includes
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2010-08-10 14:30:41 +00:00 |