Luca
|
2730dab4c6
|
made test more serious and easy to understand
|
2014-12-07 15:04:10 -05:00 |
|
Luca
|
ab54ca1697
|
addressed some of Frank's comments
|
2014-12-07 15:03:48 -05:00 |
|
Luca
|
aee20d669d
|
removed useless comments, added other comments
|
2014-12-07 13:58:13 -05:00 |
|
Luca
|
6d571ca6b9
|
truth revealing unit test :-) re-established good functioning of IMU factor (TODO: fix CombinedImuFactor F & G)
|
2014-12-07 13:14:45 -05:00 |
|
Luca
|
792d2656d0
|
using cross product instead of skewSymm matrix in predict
|
2014-12-06 19:13:02 -05:00 |
|
Luca
|
d46224e8a1
|
added const and changed name in updatePreintegratedMeasurements to "omegaCoriolisHat" to comply with notation in "predict"
|
2014-12-06 19:04:41 -05:00 |
krunalchande
|
943a18b124
|
Fixed confusion in naming.
|
2014-12-06 17:42:07 -05:00 |
dellaert
|
4e6534eff7
|
Tried to harmonize AHRS and IMU handling of coriolis term (but they are inconsistent)
|
2014-12-05 13:52:51 +01:00 |
|
dellaert
|
aa93475b3d
|
Moved two very large methods from ImuFactorBase to PreintegrationBase
|
2014-12-05 13:24:03 +01:00 |
|
dellaert
|
8bfe4d75fb
|
Possibly controversial (sorry @lucacarlone ) name change to make it easier to see copy/paste patterns.
|
2014-12-05 12:36:14 +01:00 |
|
dellaert
|
ac8e4d2536
|
Made PreintegratedRotation a base class of PreintegrationBase
|
2014-12-05 12:17:08 +01:00 |
|
dellaert
|
507979c526
|
PreintegratedRotation works for AHRS
|
2014-12-05 12:12:54 +01:00 |
|
dellaert
|
37e6b796ec
|
Slightly edited and re-formatted comments
|
2014-12-05 09:29:00 +01:00 |
|
dellaert
|
cc03a13f5f
|
check.navigation target
|
2014-12-05 09:28:40 +01:00 |
|
Luca
|
83d84bcc29
|
removed last redundancy between error computation and predict
|
2014-12-04 16:56:55 -05:00 |
|
Luca
|
c1d63b77ff
|
added comments, made more elegant error evaluation for CombinedImuFactor
|
2014-12-04 16:35:40 -05:00 |
|
Luca
|
30810e2917
|
moved error and jacobian computation to base class
|
2014-12-04 16:18:33 -05:00 |
|
Luca
|
95baccb3b4
|
moved error and jacobian computation for ImuFactor to base class
|
2014-12-04 12:44:14 -05:00 |
|
Luca
|
9f7fbdc530
|
fixed unit tests
|
2014-12-04 12:14:37 -05:00 |
|
Luca
|
26ca8a5bb4
|
fixed matlab wrapper
|
2014-12-04 12:13:08 -05:00 |
|
Luca
|
7b43d5c943
|
fixed naming convention
|
2014-12-04 12:10:40 -05:00 |
|
Luca
|
7a9a8dd9d6
|
moved prediction to base class
|
2014-12-04 12:09:13 -05:00 |
|
Luca
|
1992cb27ba
|
added ImuFactorBase. In the process of moving stuff to base class
|
2014-12-04 11:51:31 -05:00 |
|
Luca
|
b9e96e4c6f
|
added ImuBase class
|
2014-12-03 19:35:21 -05:00 |
|
Luca
|
7dd359ce5d
|
fixed naming convention
|
2014-12-03 19:09:04 -05:00 |
|
Luca
|
218af7c889
|
included methods in the base class to reduce redundancy between ImuFactor and CombinedImuFactor
|
2014-12-03 18:58:20 -05:00 |
|
Luca
|
c4b62929bf
|
fixed potential bug when IMU-to-body trasformation is not the identity
|
2014-12-03 18:42:44 -05:00 |
|
Luca
|
6b56b609f2
|
added base class for preintegration in Imu factors
|
2014-12-03 18:28:15 -05:00 |
|
Luca
|
71a3ac2027
|
Merge branch 'develop'
|
2014-12-02 19:31:44 -05:00 |
Christian Forster
|
f8594da3e3
|
Merged in fix/PriorFactorWithCharts (pull request #57)
Fixed the prior factor to use charts and traits
|
2014-12-02 19:10:45 -05:00 |
|
Christian Forster
|
f7cc4f2337
|
use DefaultChart to get dimension in BetweenConstraint constructor
|
2014-12-02 18:59:30 -05:00 |
|
Luca
|
dd63ee386d
|
Merge branch 'develop'
|
2014-12-02 18:55:27 -05:00 |
|
Christian Forster
|
6c92914db1
|
remove commented code
|
2014-12-02 18:41:50 -05:00 |
|
Frank Dellaert
|
d39cb295b9
|
Merged in feature/ClassGrammar (pull request #60)
Class and GlobalFunction grammars
|
2014-12-03 00:32:50 +01:00 |
|
Christian Forster
|
c43e77cdfa
|
Restored old version of between factor. Uncommented tests
|
2014-12-02 18:30:12 -05:00 |
|
Luca
|
7144754439
|
split CombinedImuFactor in .h and .cpp, improved documentation
|
2014-12-02 16:41:35 -05:00 |
|
Luca
|
c0a043019c
|
added comments and minor fixes
|
2014-12-02 16:41:00 -05:00 |
|
Luca
|
32f0bdb288
|
removed useless parameters, included "using namespace std", deleted arguments in setZero() for fixed size matrix
|
2014-12-02 15:56:53 -05:00 |
|
Luca
|
78f19d1aa3
|
removed useless parameter, removed useless includes, fixed typos
|
2014-12-02 15:55:47 -05:00 |
|
Luca
|
3ba04fba6b
|
formatting changes
|
2014-12-02 15:12:51 -05:00 |
|
Luca
|
57f2e77122
|
added Rot3() in constructor
|
2014-12-02 15:12:44 -05:00 |
|
Luca
|
b818a548c5
|
split ImuFactor in .h and .cpp
|
2014-12-02 14:59:21 -05:00 |
|
Frank Dellaert
|
c8b59b2885
|
Merged in fix/rm-compiler-warnings (pull request #61)
Remove three compiler warnings.
|
2014-12-02 18:03:29 +01:00 |
|
Luca
|
b6c375db0d
|
deleted comment and added TODO
|
2014-12-02 11:48:07 -05:00 |
Thomas Schneider
|
a8064849fa
|
Remove three compiler warnings.
|
2014-12-02 17:03:04 +01:00 |
Chris Beall
|
b318857216
|
Now valgrind error free
|
2014-12-02 08:37:32 -05:00 |
|
dellaert
|
afebf2087f
|
Small problem w virtual
|
2014-12-02 14:12:22 +01:00 |
|
dellaert
|
41d2783beb
|
GlobalFunctionGrammar done and used
|
2014-12-02 13:49:25 +01:00 |
|
dellaert
|
a8de6c4dc3
|
Moved to header
|
2014-12-02 13:41:46 +01:00 |
|
dellaert
|
60d7b80055
|
Successful global function parser
|
2014-12-02 13:30:52 +01:00 |