11 Commits (266ad062fe79c40b43a615bd50b90a23e367be31)

Author	SHA1	Message	Date
Frank Dellaert	707627fb3a	Rot2 "named constructors" (http://www.parashift.com/c++-faq-lite/ctors.html#faq-10.8): ... /** Named constructor from angle == exponential map at identity */ static Rot2 fromAngle(double theta) { return Rot2(cos(theta),sin(theta));} /** Named constructor from cos(theta),sin(theta) pair, will *not* normalize! */ static Rot2 fromCosSin(double c, double s); /** Named constructor that behaves as atan2, i.e., y,x order (!) and normalizes */ static Rot2 atan2(double y, double x); which are a bit more verbose, but at least won't cause hours of bug-tracking :-( I also made most compose, inverse, and rotate functions into methods, with the global functions mostly calling the methods. Methods have privileged access to members and hence are typically much more readable.	2010-03-03 03:31:53 +00:00
Frank Dellaert	1093317fdc	wedge	2010-03-02 02:25:27 +00:00
Frank Dellaert	5e00c58ea7	Baker–Campbell–Hausdorff formula: in non-commutative Lie groups, when composing exp(Z) = exp(X)exp(Y) it is not true that Z = X+Y. Instead, Z can be calculated using the BCH formula: ... Z = X + Y + [X,Y]/2 + [X-Y,[X,Y]]/12 - [Y,[X,[X,Y]]]/24 + ... See http://en.wikipedia.org/wiki/Baker–Campbell–Hausdorff_formula	2010-02-27 14:58:54 +00:00
Richard Roberts	b82d054aaa	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.	2010-01-26 20:00:17 +00:00
Frank Dellaert	8088aea598	Added double as Lie type, needed to remove Lie.h include from Vector.h	2010-01-14 05:58:58 +00:00
Richard Roberts	1dcc864d97	Comment cleanup to /** style and adding global print functions	2010-01-10 22:41:23 +00:00
Frank Dellaert	92c58e50a1	Small changes, mainly const correctness	2010-01-10 14:59:22 +00:00
Frank Dellaert	ec1b57ed08	Added Lie required functions (trivial) for Vector. Not in Vector.h as this becomes circular.	2010-01-10 12:22:59 +00:00
Richard Roberts	4fa53a1f79	Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function.	2010-01-10 06:35:16 +00:00
Richard Roberts	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
Richard Roberts	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