a956c1a8be
svn restored from 1733.
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this commit updates gtsam to version 1774, which now appears as 1734.
2010-01-16 01:16:59 +00:00
aa2aa4149c
Special case for trace==1 in Rot3 logmap
2010-01-10 23:36:37 +00:00
30367e35fb
Much faster compund rotation using Justin's (indeed correct) formula
2010-01-10 12:25:46 +00:00
2b82ff65e7
Deriving Lie objects from a base class Lie<T>, which provides member functions to access global functions, for use in MATLAB.
2010-01-09 23:15:06 +00:00
6851b31fad
Added static methods to construct rotations, coded up convention for yaw-pitch-roll, modernized RQ
2010-01-09 00:03:47 +00:00
19a3e228d7
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.
2010-01-08 00:40:17 +00:00
b20ed42134
log and between
2010-01-06 19:29:41 +00:00
f77da96caf
Modernized and tested RQ and added Rot3::ypr. Note this yaw-pitch-roll is different from ML version, which is focused on cameras. Let the fun begin...
2010-01-06 15:52:43 +00:00
f82b46f96c
Sped up rodriguez and replaced slow implementation with call to fast implementation. Also moved some functions to cpp.
2010-01-02 14:28:18 +00:00
7d4de3ec20
Added a 1D manifold implementation of 2D rotations. The new representation stores (cos theta, sin theta) rather than theta itself, ensuring that (a) rotate and unrotate do not call cos/sin, (b) same for all derivatives of rotate and unrotate, (c) when you call angle(), you always get the standardized answer given by atan2. The idea is that we will use this new type in Pose2 instead of angle.
2009-12-09 21:50:27 +00:00
11f0d04cb6
made all classes that currently have an assert_equal "Testable"
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- derive from testable as in class Point2 : Testable<Point2>
- moved print and equal declarations in .h right after the constructor
- similarly, moved implementations after constructors in .cpp file
- removed obsolete assert_equal
2009-10-26 19:26:51 +00:00
354f9de64e
fixed round off error in Rot3.rodriguez
2009-09-16 02:20:57 +00:00
ba676a7a95
removed a printing thing
2009-09-03 18:11:26 +00:00
214637cee9
fixed rodriguez in Rot3
2009-09-03 17:43:02 +00:00
2357e8aefc
There was a serious mistake in rodriguez, instead of R was returning R'
2009-09-03 17:08:52 +00:00
d80fa24a9f
Fixing directory structure
2009-08-21 22:23:24 +00:00
Chris Beall
Richard Roberts
Frank Dellaert
Brian Law
Kai Ni
Alireza Fathi