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97 Commits (2578a7098fba1bb2c900aca9f123830e8f371755)

Author SHA1 Message Date
Frank 2578a7098f Large refactor with defaultParams and ScenarioRunners - MC tests commented out for now. 2015-12-24 16:02:04 -08:00
Frank f37fe2613b Merge remote-tracking branch 'origin/feature/scenarios' into feature/ImuFactorPush2 
Conflicts:
	gtsam/navigation/PreintegrationBase.h
	gtsam/navigation/tests/testImuFactor.cpp
 2015-12-24 14:36:35 -08:00
Frank Dellaert 25db851a0b Getting rid of old MonteCarlo - in progress 2015-12-23 13:44:07 -08:00
Frank Dellaert e7f3f1cd29 Derivative tested again 2015-12-23 12:51:28 -08:00
Frank Dellaert 630c2a7a18 Now uses Runner 2015-12-23 12:34:30 -08:00
Frank Dellaert 9ecb6ed5f3 Now using ScenarioRunner 2015-12-23 12:12:12 -08:00
Frank Dellaert 21ed3ec441 Set up acceleration test 2015-12-23 08:59:53 -08:00
Frank Dellaert a03924eb85 Merge remote-tracking branch 'origin/develop' into feature/ImuFactorPush2 
Conflicts:
	gtsam/navigation/tests/testImuFactor.cpp
 2015-12-15 12:43:50 -08:00
Frank ee5bd7ac39 Increased # MC samples 2015-10-19 15:20:07 -07:00
Frank Dellaert ee7ada9b81 Got rid of commented out tests, made MC do more samples 2015-10-10 14:16:30 -07:00
Duy-Nguyen Ta 435e042aa0 revert the Eigen's bug as we can't touch Eigen. Fix our code to play nice with the bug by avoiding cross product. 2015-09-18 23:35:51 -04:00
Duy-Nguyen Ta a4dc589716 fix indent 2015-09-17 22:10:19 -04:00
Duy-Nguyen Ta 6fb453e725 disable experimental tests with specified expected values 2015-09-17 11:34:49 -04:00
Duy-Nguyen Ta a9954b3bd5 test pass when using priorBias in Preint instead of zeroBias 2015-09-17 11:32:39 -04:00
Duy-Nguyen Ta cf821f5124 update api 2015-09-17 11:30:39 -04:00
Duy-Nguyen Ta c7e52fe861 a bit more complicated test case 2015-09-17 11:28:59 -04:00
Duy-Nguyen Ta 7f19e2ea86 ImuFactor Jacobian test passed. 
Need to integrate at least two IMU measurements to get information on the position
 2015-09-15 11:14:45 -04:00
Duy-Nguyen Ta 704411de4e MonteCarlo test passed for body_P_sensor case. Unittests for Jacobians of updatedDeltaXij. Code to verify statistics and nonlinearity of generated samples. 2015-09-10 23:13:35 -04:00
Duy-Nguyen Ta f59c442fb3 non-isotropic diagonal noises to check the effect of body_R_sensor. Predefine seeds for random samplers 2015-09-10 23:07:45 -04:00
Duy-Nguyen Ta 9f91aedd6a test centrifugal derivative 2015-09-02 16:52:54 -04:00
dellaert cf5f859679 Boost optional for sensor pose 2015-08-24 15:15:57 -07:00
Duy-Nguyen Ta 2d251c6411 make one MC test passed by using non-zero random seeds and increasing the number of samples 2015-08-10 21:03:21 -04:00
dellaert 7fc1befdca Two different random seeds for better Monte-Carlo 2015-08-09 11:43:26 -07:00
dellaert 18d0966630 more Monte Carlo 2015-08-01 17:21:34 -07:00
dellaert 7224162e60 More Monte Carlo... 2015-07-31 21:04:16 -07:00
dellaert b26bfb27ac Removed F/G tests: derivatives no longer matched and are checked at a lower level anyways. 2015-07-31 15:42:22 -07:00
dellaert 325ede23fe BIG: switch to NavState delta pose 2015-07-31 15:08:12 -07:00
dellaert 628a4cc4cc Removed inheritance from PreintegratedRotation 2015-07-31 11:43:53 -07:00
dellaert 3cdf8973d4 Monte Carlo analysis 2015-07-30 22:50:06 -07:00
dellaert 9c35c931f6 Modernized test 2015-07-29 21:53:18 -07:00
dellaert 75cc3020eb Fixed all but sensor_pose error 2015-07-29 12:01:22 -07:00
dellaert 2a9e1db4cb Merge branch 'feature/cleanup_ImuFactor' into noiseModelMixup 2015-07-29 11:54:16 -07:00
dellaert 9d1111a767 Derivative accuracy 2015-07-29 11:53:24 -07:00
dellaert 5b9bf9affa Fix the noise covariances to conform to new error order... 2015-07-29 15:43:42 +02:00
dellaert 8992cf7832 Merge branch 'regression_test' into feature/cleanup_ImuFactor 
Conflicts:
	gtsam/navigation/tests/testImuFactor.cpp
 2015-07-27 19:05:55 +02:00
dellaert 2007391987 Better test, with 2nd order integration 2015-07-27 18:35:56 +02:00
dellaert b1ec4d5876 Merge branch 'regression_test' into feature/cleanup_ImuFactor 
Conflicts:
	gtsam/navigation/tests/testImuFactor.cpp
 2015-07-27 16:17:05 +02:00
dellaert 11d0ad0d78 Covariance regression values 2015-07-27 16:12:41 +02:00
dellaert d5d8000926 Merge branch 'fix/imuFactor_BodyPSensor' into feature/cleanup_ImuFactor 
Conflicts:
	gtsam/navigation/CombinedImuFactor.cpp
	gtsam/navigation/ImuFactor.cpp
	gtsam/navigation/PreintegrationBase.cpp
	gtsam/navigation/PreintegrationBase.h
	gtsam/navigation/tests/testImuFactor.cpp
 2015-07-26 20:50:56 +02:00
dellaert 18ff25b67f Cleaned up test while reading it 2015-07-25 17:34:16 +02:00
dellaert 7407b605b9 Merge remote-tracking branch 'origin/develop' into fix/imuFactor_BodyPSensor 
Conflicts:
	gtsam/navigation/CombinedImuFactor.cpp
	gtsam/navigation/ImuFactor.cpp
	gtsam/navigation/PreintegrationBase.h
	gtsam/navigation/tests/testImuFactor.cpp
 2015-07-25 10:02:20 +02:00
dellaert 670781231c Fixed derivative of biasCorrectedDelta 2015-07-24 17:40:35 +02:00
dellaert 7ebcb4c18f Replaced large complicated original function with just a call to localCoordinates. 2015-07-24 16:45:55 +02:00
dellaert 9bcdf972f8 Asserting that computeError is just localCoordinates 2015-07-24 14:17:46 +02:00
dellaert 323ed5220b Gravity should be specified in NAV coordinates! Default Nav frame is assumed to be *Z down* for the old-style constructors. 2015-07-24 13:22:32 +02:00
dellaert c6b68e6795 No more second-order integration flag 2015-07-23 17:08:19 +02:00
dellaert de76314488 Straight line example, including finding defect in using first-order approximation 2015-07-23 14:21:29 +02:00
dellaert 85085e882d Removed Lie tests (now in testNavState) 2015-07-22 22:24:53 +02:00
dellaert a99911b997 Now uses NavState::predict ! 2015-07-22 22:24:19 +02:00
dellaert 2a38ed9603 Additive version for coriolis forces 2015-07-22 01:01:19 -04:00