Paul Furgale
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24e1334e5a
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Trying to update the concepts definition to reflect reality
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2014-12-11 12:41:16 +01:00 |
Mike Bosse
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376dec5103
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cleaned up a bit; but not really working yet. Trouble with partial specialization of lie_group::expmap<Quaternion<> >()
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2014-12-11 03:15:45 +01:00 |
dellaert
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21b97ddedf
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Removed obsolete methods (but link error!)
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2014-12-09 01:04:21 +01:00 |
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dellaert
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449ba1f37a
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LieGroupChart makes use of Exponential map (and its inverse) around identity
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2014-12-09 00:52:53 +01:00 |
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dellaert
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3077d03568
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Header should also be included in non-quaternion mode
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2014-12-09 00:11:28 +01:00 |
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dellaert
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8fcf9d9866
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SO(3) is a *Matrix* Lie group. This is it. Rot3 will inherit from this *or* Quaternion.
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2014-12-09 00:11:28 +01:00 |
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dellaert
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118d561e96
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Created GTSAM_GROUP_IDENTITY as it handles templates differently
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2014-12-09 00:11:28 +01:00 |
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Frank Dellaert
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473bc1b703
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Derivatives of Charts, and special Lie group treatment
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2014-12-08 13:08:39 +00:00 |
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dellaert
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9dc3d28bf2
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Now Rot3 uses QuaternionChart Expmap/Logmap in quaternion mode
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2014-12-08 13:16:30 +01:00 |
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dellaert
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8cbab779b3
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Slight refactor
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2014-12-08 13:16:30 +01:00 |
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dellaert
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ccd843040e
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Small change in file that might disappear anyway
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2014-12-08 13:16:30 +01:00 |
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Paul Furgale
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2af04a8e41
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Typo...
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2014-12-08 10:26:04 +00:00 |
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Frank Dellaert
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fd9f5ae1ec
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Clarified derivatives of group actions
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2014-12-08 09:42:56 +00:00 |
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Paul Furgale
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2b1d907a74
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More indentation fixes.
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2014-12-08 08:55:14 +00:00 |
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Paul Furgale
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21596e1894
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Making the indentation work in Markdown view.
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2014-12-08 08:51:27 +00:00 |
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dellaert
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fd59783fae
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Forgot to check in how to use macros...
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2014-12-07 21:03:54 +01:00 |
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dellaert
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949a6b7f4c
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Found solution for template arguments in macros. Requires a bit more from caller, but is better. I quite like the MACROS: It's compact...
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2014-12-07 19:55:06 +01:00 |
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dellaert
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04d3457b45
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First working Manifold macro
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2014-12-07 19:30:46 +01:00 |
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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 |
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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 |
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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 |
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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 |