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
|
1ac790da1c
|
Some minor refactoring/renaming
|
2015-07-27 16:00:06 +02:00 |
|
dellaert
|
a02a167da4
|
Made new bias tests by Krunal compile. reinstated backwards compatible method.
|
2015-07-26 20:51:51 +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
|
654cb4d31a
|
Re-factored conversion from sensor to body
|
2015-07-26 07:55:43 +02:00 |
|
dellaert
|
0310eb4e7b
|
Fixed compilation errors
|
2015-07-25 10:02:38 +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
|
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 |
|
dellaert
|
a9b4cdbe47
|
coriolis now lives in NavState
|
2015-07-22 00:19:08 -04:00 |
|
dellaert
|
4c177c0ce2
|
unrotate now defined for vector
|
2015-07-21 18:28:31 -04:00 |
|
dellaert
|
4c8c669d71
|
Moved NavState to its own header and totally revamped as a semi-direct product
|
2015-07-21 11:23:24 -07:00 |
|
dellaert
|
6496bd49ed
|
Separate and much simplified computeError works
|
2015-07-20 09:16:57 -07:00 |
|
dellaert
|
1ce6ab893d
|
predict derivative works !
|
2015-07-20 00:58:41 -07:00 |
|
dellaert
|
2df20b4f37
|
Second order coriolis done
|
2015-07-19 23:58:06 -07:00 |
|
dellaert
|
5f6d3a600f
|
First order coriolis derivatives
|
2015-07-19 23:40:20 -07:00 |
|
dellaert
|
76abf553b0
|
biasCorrectedDelta and test of its derivatives
|
2015-07-19 21:24:38 -07:00 |
|
dellaert
|
d4d99c390d
|
A custom retract does the trick
|
2015-07-19 03:31:11 -07:00 |
|
dellaert
|
f32a7cbd00
|
Parsed out tangent space operations
|
2015-07-19 02:54:28 -07:00 |
|
dellaert
|
042d874f08
|
Introduce and use NavState for predict
|
2015-07-19 01:52:08 -07:00 |
|
dellaert
|
3c59168406
|
Inlined Logmap and derivatives, removed from PreintegratedRotation
|
2015-07-19 00:54:25 -07:00 |
Frank Dellaert
|
0df1e345a3
|
Complete refactor with a shared parameter to fixed parameters. Tests still use old-style and all pass, because of hacky backwards compatible functions.
|
2015-07-18 18:30:42 -07:00 |
|
dellaert
|
55269d642c
|
Fixed order of components in error to match RTV order
|
2015-07-17 15:34:58 -07:00 |
|
dellaert
|
2d425ad7be
|
More substantial jacobian refactor
|
2015-07-17 01:27:07 -07:00 |
|
dellaert
|
66a9c34840
|
Clean up jacobians a bit
|
2015-07-17 01:14:44 -07:00 |
|
dellaert
|
d45d2e17ed
|
inline transpose
|
2015-07-17 01:07:15 -07:00 |
|
dellaert
|
8ff4c98337
|
Rationalize predict
|
2015-07-17 00:52:47 -07:00 |
|
Frank Dellaert
|
a261587d4b
|
Minor cleanup, moved reset method closer to constructor
|
2015-05-23 17:28:39 -07:00 |
Abe
|
13a4da21b2
|
misc bugfixes and cleanup from skydio
|
2015-05-13 22:26:24 -07:00 |