lcarlone
|
6302a79533
|
added functionality to change bias and reset integration
|
2016-06-04 23:00:48 -04:00 |
dellaert
|
cbf062ff32
|
Everything compiles and runs with derived classes
|
2016-05-15 12:52:41 -07:00 |
|
dellaert
|
308a75e49b
|
Created one base class and two derived classes
|
2016-05-15 11:12:40 -07:00 |
|
dellaert
|
5b9c966022
|
More sync between versions
|
2016-05-15 10:36:36 -07:00 |
|
dellaert
|
a560dd6576
|
Synchronize both versions' treatment of bias and sensor pose
|
2016-05-15 09:57:14 -07:00 |
|
dellaert
|
fa15264e83
|
Add ifdefs that restore the old IMU factor functionality
|
2016-05-15 09:17:29 -07:00 |
Alex Hagiopol
|
70b2aab352
|
Deprecated all inline functions in Matrix.h.
|
2016-04-11 15:11:29 -04:00 |
Frank
|
0372a959ee
|
Many small improvements, bug-fixes, and tests
|
2016-02-24 11:01:19 -08:00 |
|
Frank
|
0a7fd27f28
|
Working on getting a simple typedef to compile - as well as dealing with Point3() now creating uninitialized memory.
|
2016-02-10 17:48:52 -08:00 |
|
dellaert
|
ff1c27ba62
|
Got rid of spurious malloc (hard to find! Vector should have been Vector3)
|
2016-02-01 16:47:13 -08:00 |
|
dellaert
|
1556c25464
|
Test changing bias and non-zero coriolis
|
2016-02-01 14:53:33 -08:00 |
|
Frank Dellaert
|
4f214ad7d1
|
Now use applyInvDexp
|
2016-02-01 12:55:24 -08:00 |
|
Frank Dellaert
|
7c2560e977
|
Now exact derivatives with beautiful functor
|
2016-02-01 09:29:50 -08:00 |
|
Frank Dellaert
|
fc500eea33
|
Fixed init bug
|
2016-01-31 16:18:52 -08:00 |
|
Frank Dellaert
|
77969f97d9
|
Merging works great with numerical derivative of keystone block
|
2016-01-31 01:24:30 -08:00 |
|
Frank Dellaert
|
ebba015227
|
Rename key method
|
2016-01-30 18:29:26 -08:00 |
|
Frank Dellaert
|
0d07e8764d
|
mergeWith prototype
|
2016-01-30 16:58:39 -08:00 |
|
Frank Dellaert
|
5cf98313bd
|
Combined two methods and renamed static method
|
2016-01-30 13:43:46 -08:00 |
|
Frank Dellaert
|
77d4e4c33e
|
Got rid of spurious argument
|
2016-01-30 13:29:02 -08:00 |
|
Frank Dellaert
|
14a87c4ecc
|
Renamed zeta to preintegrated
Simplified sensor pose handling
|
2016-01-30 13:13:48 -08:00 |
|
Frank Dellaert
|
ba5d4ffa6c
|
Don't use numerical derivative
|
2016-01-30 12:45:27 -08:00 |
|
Frank Dellaert
|
f498a96582
|
Got rid of cumbersome TangentVector struct
|
2016-01-30 12:42:01 -08:00 |
|
Frank Dellaert
|
2a244cac12
|
Drastic simplification triumph !
|
2016-01-30 11:58:11 -08:00 |
|
Frank Dellaert
|
3af7e80f97
|
Derivatives match!
|
2016-01-30 09:52:13 -08:00 |
|
Frank Dellaert
|
d2d6590854
|
Refactor of bias derivatives.
New bias derivatives work for acc but not omega
|
2016-01-29 23:27:59 -08:00 |
|
Frank
|
23e76efdc4
|
Some instrumentation
|
2016-01-29 17:42:19 -08:00 |
|
dellaert
|
ad01b73eba
|
Use new deprecated flag
|
2016-01-28 01:13:55 -08:00 |
|
Frank
|
7b60c50297
|
New method computeError, and more derivative checking (though, expression factors already checked out)
|
2016-01-27 16:51:09 -08:00 |
|
Frank Dellaert
|
15dfd932f1
|
Tying up loose ends, ostream, get rid of cov_
|
2016-01-26 21:35:32 -08:00 |
|
Frank
|
ef350af957
|
Merged AggregateReadings into PreintegrationBase
|
2016-01-25 18:11:07 -08:00 |
|
Frank
|
f355437f51
|
Moved params to separate class
|
2016-01-25 14:18:35 -08:00 |
|
dellaert
|
c20bacf025
|
Fixed equals
|
2016-01-17 21:31:29 -08:00 |
|
Frank Dellaert
|
05df0ca0cc
|
compiler directives
|
2015-12-27 18:41:50 -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
|
380d0dc989
|
const correctness
|
2015-12-22 19:08:46 -08:00 |
|
Frank Dellaert
|
a69c43bf43
|
matchesParamsWith, a few new constructors, and Doxygen streamlining
|
2015-10-10 13:51:39 -07:00 |
Duy-Nguyen Ta
|
75abc90a90
|
Informative derivative names. Only compute if need to.
|
2015-09-16 08:24:17 -04:00 |
|
Duy-Nguyen Ta
|
c9fae14a98
|
correct Jacobians for body_P_sensor case, including derivative for centripetal acc
|
2015-09-10 23:03:59 -04:00 |
|
dellaert
|
a3032fe367
|
Params::print, and comments
|
2015-08-09 11:23:34 -07:00 |
|
dellaert
|
9af69254b2
|
Refactored arm correction but there is still a difference in regression values. Did I introduce a bug?
|
2015-08-04 08:31:47 -07:00 |
|
dellaert
|
3ae998d31d
|
Renamed to make frame clear
|
2015-08-04 07:32:10 -07:00 |
|
dellaert
|
f8df938b30
|
New naming, old derivative code
|
2015-08-01 17:17:23 -07:00 |
|
dellaert
|
8aca431913
|
const update method
|
2015-07-31 15:31:45 -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
|
dd468ab495
|
Inlined rotation part
|
2015-07-31 11:31:01 -07:00 |
|
dellaert
|
7149b8ee42
|
Avoid duplicate calculation of D_acc_R
|
2015-07-29 21:21:03 -07:00 |
|
dellaert
|
d0467c53dd
|
Use PreintegratedRotation::integrateMeasurement
|
2015-07-29 20:40:19 -07:00 |
|
dellaert
|
0b4919e099
|
Refactoring of integrateMeasurement to reduce copy/paste
|
2015-07-29 15:49:03 -07:00 |
|
dellaert
|
2a9e1db4cb
|
Merge branch 'feature/cleanup_ImuFactor' into noiseModelMixup
|
2015-07-29 11:54:16 -07:00 |