77d4e4c33e
Got rid of spurious argument
2016-01-30 13:29:02 -08:00
14a87c4ecc
Renamed zeta to preintegrated
...
Simplified sensor pose handling
2016-01-30 13:13:48 -08:00
ba5d4ffa6c
Don't use numerical derivative
2016-01-30 12:45:27 -08:00
f498a96582
Got rid of cumbersome TangentVector struct
2016-01-30 12:42:01 -08:00
2a244cac12
Drastic simplification triumph !
2016-01-30 11:58:11 -08:00
b7d54e60b6
Radically simplified bias derivative tests
2016-01-30 11:42:55 -08:00
5d95d66077
Simplifying bias tests
2016-01-30 11:00:25 -08:00
984a90672f
Deprecated constructor + fixed parameter name
2016-01-30 10:19:04 -08:00
3a2c2e23be
Small refactor for clarity
2016-01-30 10:10:43 -08:00
3af7e80f97
Derivatives match!
2016-01-30 09:52:13 -08:00
d2d6590854
Refactor of bias derivatives.
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New bias derivatives work for acc but not omega
2016-01-29 23:27:59 -08:00
23e76efdc4
Some instrumentation
2016-01-29 17:42:19 -08:00
1720adbbd7
Merge remote-tracking branch 'origin/develop' into feature/LPSolver
2016-01-29 09:12:50 -08:00
0af87e7298
Fixed some signed/unsigned issues
2016-01-29 09:06:30 -08:00
0560467bfc
Merge remote-tracking branch 'origin/fix/move_numpy_eigen' into feature/ImuFactorPush2
2016-01-28 16:57:12 -08:00
52f3432988
Moved numpy_eigen headers to a more logical place
2016-01-28 16:47:12 -08:00
8a45320ae2
Fixed MATLAB wrapper
2016-01-28 09:54:47 -08:00
127cfdcfde
Fix Rot3 statics
2016-01-28 09:53:03 -08:00
56992899af
fix trivial compiler error
2016-01-28 12:35:57 -05:00
da9a5e2746
Moved ostream and print to cpp to not pollute includes
2016-01-28 08:24:00 -08:00
a1b23b24bc
Take ordering into account
2016-01-28 01:27:33 -08:00
e66fcf8612
New tests
2016-01-28 01:27:18 -08:00
27405fc185
renaming variables
2016-01-28 01:26:57 -08:00
73f9b9d3fb
Better behaved numerics
2016-01-28 01:26:43 -08:00
0470c318a4
Typos
2016-01-28 01:14:04 -08:00
ad01b73eba
Use new deprecated flag
2016-01-28 01:13:55 -08:00
558dfa458a
Merge remote-tracking branch 'origin/develop' into feature/ImuFactorPush2
...
Conflicts:
gtsam/navigation/tests/testCombinedImuFactor.cpp
gtsam/navigation/tests/testImuFactor.cpp
2016-01-28 01:13:08 -08:00
1c19b4e803
More wrapping
2016-01-27 21:23:45 -08:00
7b60c50297
New method computeError, and more derivative checking (though, expression factors already checked out)
2016-01-27 16:51:09 -08:00
8126e6b51d
add navState method
2016-01-27 15:15:33 -08:00
fa97e5d220
Better printing
2016-01-27 14:15:16 -08:00
3bb34679be
Split into two units
2016-01-27 13:17:03 -08:00
e8565d27f7
Better print
2016-01-27 11:50:32 -08:00
88fad4caff
Fix small bugs with MATLAB wrapping
2016-01-27 09:24:49 -08:00
6eece9cc60
Quaternion now also uppercase
2016-01-26 23:57:34 -08:00
4d93a33f61
Static methods should be uppercase.
2016-01-26 23:09:58 -08:00
15dfd932f1
Tying up loose ends, ostream, get rid of cov_
2016-01-26 21:35:32 -08:00
3a891b2a2c
ostream operator
2016-01-26 20:42:48 -08:00
5b430da316
Simpler calculation of acceleration
2016-01-26 16:47:45 -08:00
cf07c22c2c
Showing trajectory and ground truth quantities
2016-01-26 15:46:36 -08:00
6d5ca7e546
make bias scenarios work
2016-01-26 12:14:35 -08:00
4d3f04364e
Merge remote-tracking branch 'bitbucket/develop' into manifold
2016-01-26 11:45:34 -08:00
00186d9763
renamed file
2016-01-26 11:45:10 -08:00
ef350af957
Merged AggregateReadings into PreintegrationBase
2016-01-25 18:11:07 -08:00
f355437f51
Moved params to separate class
2016-01-25 14:18:35 -08:00
91482a7e2b
Inner class
2016-01-25 13:33:17 -08:00
2978664cbd
Merge branch 'develop' into feature/LPSolver
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Conflicts:
gtsam_unstable/linear/QPSolver.h
2016-01-25 15:59:52 -05:00
2542d20367
Reverted back to functional
2016-01-25 12:15:29 -08:00
eb5d026a4a
Synced with commit b30d90bf70 (diff-43bc6d5065b2331de9923fd47b8c5d56)
2016-01-20 09:28:30 -08:00
ba13d74363
Delete 3dparty numpy C-api
2016-01-19 09:56:36 -08:00
0dc0fa714b
Merge remote-tracking branch 'origin/develop' into feature/py_wrap_handwritten
2016-01-19 09:10:57 -08:00
e64fc532e3
Removed debug code
2016-01-18 00:24:17 -08:00
0912b6d497
Merge remote-tracking branch 'origin/fix/ExpmapArgument' into manifold
2016-01-17 23:41:15 -08:00
e6b9c6fc95
Tiny typo, lots of mallocs!
2016-01-17 23:39:43 -08:00
5e352d15ec
Fixed test
2016-01-17 21:58:51 -08:00
9d93ef7d13
Merge remote-tracking branch 'origin/feature/ImuFactorPush2' into manifold
2016-01-17 21:37:42 -08:00
c20bacf025
Fixed equals
2016-01-17 21:31:29 -08:00
73309d6fcf
Merge remote-tracking branch 'origin/feature/small_Rot3_optimizations' into feature/ImuFactorPush2
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Conflicts:
gtsam/geometry/SO3.cpp
gtsam/navigation/ImuFactor.h
gtsam/navigation/PreintegratedRotation.h
2016-01-17 19:30:25 -08:00
a0f32f6d14
Got rid of dynamic Matrix in rotate
2016-01-17 19:23:18 -08:00
c1b2e9d726
Optmized ExpmapDerivative
2016-01-17 19:22:49 -08:00
3c1ddd7a3f
Inlined skewSymmetric
2016-01-17 19:22:14 -08:00
c81f91999d
Trying to avoid mallocs
2016-01-17 19:17:25 -08:00
e1d810d37a
Tests pass with realistic white noise strengths
2016-01-17 16:31:24 -08:00
dace8e3770
Refactored for clarity
2016-01-17 15:46:43 -08:00
9a5a8f7c7a
functors are now obsolete :-(
2016-01-17 15:17:43 -08:00
d4bbd1f289
Added numerical derivative in place of CorrectWith...
2016-01-17 15:10:54 -08:00
1790d1dc7e
Merge remote-tracking branch 'origin/feature/ImuFactorPush2' into manifold
...
Conflicts:
gtsam/navigation/ScenarioRunner.cpp
gtsam/navigation/ScenarioRunner.h
gtsam/navigation/tests/testScenarioRunner.cpp
2016-01-17 14:53:50 -08:00
43520265aa
Fixed all navigation tests that were still using deprecated methods/types
2016-01-17 14:44:03 -08:00
3975d0a642
New tests
2016-01-16 18:33:56 -08:00
c2af5400c4
Simplified derivatives - complicated "accurate" path might be wrong
2016-01-16 18:33:11 -08:00
236a69609c
Coordinate compiler flags
2016-01-16 18:25:01 -08:00
c3edee1e2d
fixed imu factor serialization, add unit test
2016-01-13 21:33:41 -05:00
6ab909a92c
fixed smart factors serialization, add unit tests]
2016-01-13 12:22:58 -05:00
21a63d8d0e
Using covariances again
2016-01-03 21:46:15 -08:00
c2a046cdb0
Exact dexp derivative flag
2016-01-03 10:53:50 -08:00
fb94e621e0
General noise models
2016-01-03 09:58:36 -08:00
07693337af
Massive refactor: matrices only!
2016-01-03 00:30:45 -08:00
a5c955a44c
Debugging matrix version
2016-01-02 23:50:05 -08:00
8f507d83f2
Deal w name change
2016-01-02 16:24:10 -08:00
3f17c58a5c
Merge branch 'feature/ImuFactorPush2' into manifold
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Conflicts:
gtsam/navigation/ScenarioRunner.cpp
gtsam/navigation/ScenarioRunner.h
2016-01-02 16:21:01 -08:00
ac544eab89
Merge remote-tracking branch 'origin/feature/scenarios' into feature/ImuFactorPush2
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Conflicts:
gtsam/navigation/PreintegrationBase.h
2016-01-02 16:16:04 -08:00
076612365e
Addressed review comments by Abe
2016-01-02 16:11:11 -08:00
f11369ff4d
Block-wise multiplication
2016-01-02 15:47:41 -08:00
a313fb92b9
sqrt info path
2016-01-02 15:25:56 -08:00
2040571ad3
Predict covariance now calculated correctly
2016-01-02 14:53:41 -08:00
97a8d21ebf
Some debugging of zeta
2016-01-02 13:32:28 -08:00
242a387ef1
Added AggregateReadings class and local functors.h header. Implemented the derivative of ExpmapDerivative correction.
2016-01-02 13:30:58 -08:00
b3ffc6d824
Added missing Jacobians
2015-12-30 00:15:02 -08:00
9a26f8508e
Compare diagonals as well for easy debugging
2015-12-29 17:26:15 -08:00
2440b63e32
Fixed covariances by dividing by dt or dt22, so the right-hand nosiy measurement is indeed used with the correct noise model
2015-12-29 16:13:19 -08:00
8a31243761
Sanity check sampler, and compare 9*9 covariance on NavState
2015-12-29 15:38:30 -08:00
e52f7ec705
discrete noise models
2015-12-29 09:47:56 -08:00
0dfd44f26c
A first implementation of noiseModel and covariance
2015-12-29 09:03:13 -08:00
610cd5f1d3
Output matrix in right order
2015-12-29 08:46:16 -08:00
daa9bd5b2a
Removed debug code
2015-12-28 17:20:21 -08:00
9eed146612
Fixed two bugs
2015-12-28 17:19:33 -08:00
52397bb4a4
Several more tests with different initial conditions
2015-12-28 17:19:15 -08:00
e52cbf74a6
Prediction now exact with second-order position update, except in last scenario
2015-12-28 15:28:12 -08:00
d3d3b8399d
Correct for gravity and V0
2015-12-28 13:17:41 -08:00
06b1f381ea
Added position and velocity updates
2015-12-28 12:34:11 -08:00
9e99f88473
Prediction works !
2015-12-28 10:00:53 -08:00
68b6d31494
Developed linear factor graph algorithm
2015-12-28 09:40:05 -08:00
874d492318
Spin
2015-12-28 09:37:00 -08:00
d0b020b6e8
Skeleton compiles/links
2015-12-28 07:11:45 -08:00
7834ac08df
Now using Params
2015-12-27 18:56:13 -08:00
05df0ca0cc
compiler directives
2015-12-27 18:41:50 -08:00
2578a7098f
Large refactor with defaultParams and ScenarioRunners - MC tests commented out for now.
2015-12-24 16:02:04 -08:00
2f17c7d54f
comment out failing test (on Ubuntu)
2015-12-24 16:01:36 -08:00
b9281b9ea6
Allow different convention
2015-12-24 16:01:21 -08:00
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
8e1041c56a
Merge remote-tracking branch 'bitbucket/RSS_ImuFactor' into feature/scenarios
2015-12-23 16:18:59 -08:00
1245e899d6
Allow for bias
2015-12-23 16:14:59 -08:00
5869b8cb65
Merge remote-tracking branch 'origin/RSS_ImuFactor' into feature/scenarios
2015-12-23 15:05:14 -08:00
f79a9b8d3a
Make two acceleration scenarios
2015-12-23 15:04:36 -08:00
31335608a8
Acceleration now specified in nav frame, allow angular velocity
2015-12-23 14:29:42 -08:00
25db851a0b
Getting rid of old MonteCarlo - in progress
2015-12-23 13:44:07 -08:00
e7f3f1cd29
Derivative tested again
2015-12-23 12:51:28 -08:00
bf82b58782
Merge branch 'RSS_ImuFactor' into feature/scenarios
2015-12-23 12:48:17 -08:00
9eb7e38cb8
measured quantities
2015-12-23 12:48:07 -08:00
630c2a7a18
Now uses Runner
2015-12-23 12:34:30 -08:00
b7701f0cf6
Merge remote-tracking branch 'origin/RSS_ImuFactor' into feature/scenarios
2015-12-23 12:19:44 -08:00
26ae74e1fb
Split off cpp file
2015-12-23 12:19:15 -08:00
d74e00ab2a
compilation issue
2015-12-23 12:12:43 -08:00
9ecb6ed5f3
Now using ScenarioRunner
2015-12-23 12:12:12 -08:00
27dcf8d4a2
Covariance convention
2015-12-23 12:09:28 -08:00
16789c09ea
compilation issue
2015-12-23 12:09:16 -08:00
e06ae41c86
Merge remote-tracking branch 'origin/RSS_ImuFactor' into feature/scenarios
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Conflicts:
gtsam/navigation/ScenarioRunner.h
gtsam/navigation/tests/testScenarioRunner.cpp
2015-12-23 12:02:41 -08:00
30946af981
Acceleration scenario tested
2015-12-23 11:59:56 -08:00
ccef2faa95
Fixed pose of accelerating trajectory
2015-12-23 11:58:41 -08:00
dc2bac5a9e
Moved all noise/sampling of IMU to ScenarioRunner
2015-12-23 11:33:52 -08:00
00b83ced7a
AcceleratingScenario + some refactoring (v and a specified in nav frame)
2015-12-23 11:15:42 -08:00
dfe3f3a348
Split off Scenario abstract base class
2015-12-23 09:22:05 -08:00
21ed3ec441
Set up acceleration test
2015-12-23 08:59:53 -08:00
dfdac8c4ca
Set up tests that pass
2015-12-22 19:30:48 -08:00
4129c9651a
Set up tests that pass
2015-12-22 19:29:27 -08:00
bcdfea37d9
pick out correct blocks
2015-12-22 19:28:49 -08:00
9b559b3620
Pick out correct blocks
2015-12-22 19:09:05 -08:00
380d0dc989
const correctness
2015-12-22 19:08:46 -08:00
cebd9ed1d3
Merge branch 'RSS_ImuFactor' into feature/scenarios
...
Conflicts:
gtsam_unstable/slam/Mechanization_bRn2.cpp
2015-12-22 19:01:11 -08:00
320823303c
const correctness
2015-12-22 19:00:09 -08:00
75385d009b
Small improvements
2015-12-22 18:45:38 -08:00
69fa553495
Monte Carlo analysis
2015-12-22 14:01:16 -08:00
95745015e0
Moved to header file
2015-12-22 11:49:14 -08:00
40bc3149ad
Added loop
2015-12-22 11:47:37 -08:00
f1fa66e9c1
Removed debug code
2015-12-22 11:39:20 -08:00
d3534b2d2b
Fixed circle example
2015-12-22 11:37:04 -08:00
699ba32c9e
Further examining a circular trajectory
2015-12-22 10:02:12 -08:00
5f9053ae39
Get rid of warnings w develop changes
2015-12-21 16:07:40 -08:00
846a777491
Forward scenario
2015-12-21 15:12:03 -08:00
84628cd511
Added Vector3 methods from develop
2015-12-21 15:11:35 -08:00
be47a2ef15
Run Scenario and check mean
2015-12-21 14:49:52 -08:00
988837be6a
Moved to header, added some methods
2015-12-21 14:29:52 -08:00
d0f911139d
First Scenario test
2015-12-21 13:57:26 -08:00
2b5554ca10
Small comments
2015-12-20 16:59:33 -08:00
3dbb69dcbd
Replace 1-cos(t) by 2*sin^2(t/2), which si more numerically stable for t ~ 0
2015-12-20 14:25:06 -08:00
eb99d4c974
New tests and explanation of ExmapDerivative
2015-12-19 12:47:43 -08:00
a03924eb85
Merge remote-tracking branch 'origin/develop' into feature/ImuFactorPush2
...
Conflicts:
gtsam/navigation/tests/testImuFactor.cpp
2015-12-15 12:43:50 -08:00
2754613072
Add support for int64 and uint64 as it was done in Schweizer-Messer
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See https://github.com/ethz-asl/Schweizer-Messer
2015-12-03 13:04:54 +01:00
eb798f88fe
Add NumPy C-API 1.8.2 to gtsam/3rdparty; Add option o use system or bundled one
2015-12-02 13:35:17 +01:00
2dbe7fa2e9
Add numpy_eigen as a 3rd party library.
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This commit adds a simple version of numpy_eigen, copied from
gtborg/numpy_eigen commit 255c09efb82496, and with a fix released in the commit
9a75383733b3dc4bc2bb0649053949ad2bec9326 of Scheizer-Messer/numpy_eigen
(https://github.com/ethz-asl/Schweizer-Messer/tree/master/numpy_eigen )
Conflicts:
CMakeLists.txt
gtsam/CMakeLists.txt
2015-12-02 13:35:14 +01:00
6ea0644559
Smallest commit ever to properly shut up warnings! Wunused-local-typedef -> Wunused-local-typedefs
2015-12-01 10:39:23 -05:00
a51b4bb7ab
Reverted change
2015-11-15 16:37:54 -08:00
8563fc30b4
Some tiny improvements
2015-11-12 13:03:03 -08:00
b40db44470
Update to Eigen 3.2.7
2015-11-10 12:50:25 -05:00
66e1619214
Attempt to fix TBB issue
2015-10-26 22:14:52 -04:00
35b6986d32
Merged in feature/c++11 (pull request #193 )
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Make C++ 11 the default
2015-10-26 17:04:08 -07:00
44aaf9ad95
Switch to vector for noise model caching
2015-10-25 18:31:44 -04:00
7e462b997f
Cache A and b in addition to noise model for damped system
2015-10-25 16:55:42 -04:00
5f396856f3
Merge remote-tracking branch 'origin/feature/FixFixedValues' into feature/Feature/FixedValues
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Conflicts:
gtsam/nonlinear/Values-inl.h
2015-10-24 10:08:53 -04:00
0b2d4f1182
feature: change rowPrefix to an indent. Now all columns are aligned
2015-10-22 15:04:53 -04:00
8379ab16c7
Merged 'develop'.
2015-10-22 14:11:05 -04:00
570abece53
Fixed Eigen assert
2015-10-21 14:15:31 -07:00
aa42501737
Undid overzealous merge
2015-10-21 10:55:31 -07:00
7cfeb442f3
Swicth back to Vector3 (overzealous merge).
2015-10-20 17:03:32 -07:00
a818304040
Merge remote-tracking branch 'origin/develop' into unit3_push_upstream
2015-10-20 14:14:56 -07:00
1949fc2511
Cache noise models in LM damping instead of constructing from scratch for each variable. Time savings of 5.6%!
2015-10-20 16:25:41 -04:00
04bcf26aa6
Explicitly cast optional to bool
2015-10-20 14:44:00 -04:00
42d07a99ff
LM optimizer use boost raw timer
2015-10-19 19:08:29 -04:00
a1881efc70
Disabled 2 tests, incompatible with Unit3 retract, with extensive comment
2015-10-19 15:20:40 -07:00
ee5bd7ac39
Increased # MC samples
2015-10-19 15:20:07 -07:00
935801d8e1
Reversed arguments to Local to work with Unit3
2015-10-19 15:02:12 -07:00
1c83329b9b
Fixed compilation issues
2015-10-19 14:59:40 -07:00
5faf09726b
Removed commented-out stuff
2015-10-19 14:44:19 -07:00
5adcd6b696
get rid of nullptr
2015-10-19 14:44:10 -07:00
06520a3b1d
Some additional derivatives (for cvross) and operators
2015-10-19 14:44:00 -07:00
4c22355f56
Merge remote-tracking branch 'bitbucket/develop' into unit3_push_upstream
2015-10-19 14:33:03 -07:00
9628b9b165
fix iteration timer in LM
2015-10-19 00:07:23 -04:00
971d2e519f
gtsam type header only when using old boost timer
2015-10-17 18:21:48 -04:00
951377c80f
fix type errors and timer issue in LM optimizer
2015-10-16 14:18:13 -04:00
1d44761e3c
Merged develop into feature/MatrixPrinting
2015-10-16 10:41:25 -04:00
d087f2fdf8
Some new methods and improvements to Unit3 from Skydio
2015-10-13 12:31:01 -07:00
702c73fc75
Patch Memory.h
2015-10-13 13:30:24 -04:00
41ded95b54
Upgrade to Eigen 3.2.6, which finally seems to include all patches we have submitted to Eigen!
2015-10-13 10:15:23 -04:00
64672471e9
Small clarifcation
2015-10-11 09:50:05 -07:00
ee7ada9b81
Got rid of commented out tests, made MC do more samples
2015-10-10 14:16:30 -07:00
a69c43bf43
matchesParamsWith, a few new constructors, and Doxygen streamlining
2015-10-10 13:51:39 -07:00
bf1510e0a9
Fixed typeid warnings
2015-10-08 16:04:52 -07:00
6e2a782f36
Fix some blatant formatting problems
2015-10-08 15:49:50 -07:00
3ea4128679
Merged in fix/PreintegrationParamsPublic (pull request #186 )
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Make CombinedPreintegrated::Params public.
2015-10-07 09:19:48 -07:00
1b2d1aadd6
remove unused typedef.
2015-10-04 22:14:05 +02:00
23a5688008
make CombinedPreintegrated Params public.
2015-10-04 16:21:13 +02:00
efc5025d73
Merge branch 'develop' into fix/CombinedImuFactor_DiscreteNoise
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Conflicts:
gtsam/navigation/CombinedImuFactor.cpp
2015-09-29 22:19:04 +02:00
ecb62492fc
Make noiseModel_ accessible to derived class: private -> protected
2015-09-29 09:50:31 -04:00
d4021859f7
Merge branch 'develop' into feature/Feature/FixedValues
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Conflicts:
gtsam_unstable/geometry/Event.cpp
2015-09-23 11:19:59 -04:00
d566946600
fix Rot3 constructor from a matrix. Revert to the generic template version, but provide a overload version for Matrix3 to avoid casting.
2015-09-21 10:26:43 -04:00
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
a4dc589716
fix indent
2015-09-17 22:10:19 -04:00
d5aea61c47
fix an Eigen bug to bypass a problem of compiling Eigen's outer product x*x.transpose() when MKL is enabled.
...
IsRowMajor is an enum value defined in DenseBase. However, in the template specialization of GeneralProduct<Lhs,Rhs,OuterProduct>, which is derived from ProductBase<--MatrixBase<--DenseBase, another struct is defined with the same name IsRowMajor, leading to a compilation error.
2015-09-17 22:09:06 -04:00
bc99c58226
fix Rot3-from-Matrix construction for Quaternion case
2015-09-17 17:44:00 -04:00
aa2ffcd118
Merge branch 'develop' into feature/cleanup_ImuFactor
2015-09-17 17:42:38 -04:00
6fb453e725
disable experimental tests with specified expected values
2015-09-17 11:34:49 -04:00
a9954b3bd5
test pass when using priorBias in Preint instead of zeroBias
2015-09-17 11:32:39 -04:00
cf821f5124
update api
2015-09-17 11:30:39 -04:00
c7e52fe861
a bit more complicated test case
2015-09-17 11:28:59 -04:00
f3b97ed2c2
fix header
2015-09-17 11:27:37 -04:00
75abc90a90
Informative derivative names. Only compute if need to.
2015-09-16 08:24:17 -04:00
7f19e2ea86
ImuFactor Jacobian test passed.
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Need to integrate at least two IMU measurements to get information on the position
2015-09-15 11:14:45 -04:00
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
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
c9fae14a98
correct Jacobians for body_P_sensor case, including derivative for centripetal acc
2015-09-10 23:03:59 -04:00
e01fc2da03
use mt19937_64 generator
2015-09-10 22:59:44 -04:00
9f91aedd6a
test centrifugal derivative
2015-09-02 16:52:54 -04:00
63ca5dcfb0
Merge remote-tracking branch 'origin/develop' into feature/Feature/FixedValues
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Conflicts:
.cproject
examples/Pose2SLAMExample_graph.cpp
examples/SFMExample_SmartFactor.cpp
examples/SFMExample_SmartFactorPCG.cpp
gtsam.h
gtsam/geometry/CameraSet.h
gtsam/geometry/StereoCamera.cpp
gtsam/geometry/StereoCamera.h
gtsam/geometry/tests/testCameraSet.cpp
gtsam/linear/RegularJacobianFactor.h
gtsam/linear/tests/testRegularJacobianFactor.cpp
gtsam/nonlinear/ExpressionFactor.h
gtsam/nonlinear/expressions.h
gtsam/slam/JacobianFactorQR.h
gtsam/slam/JacobianSchurFactor.h
gtsam/slam/RegularHessianFactor.h
gtsam/slam/RegularImplicitSchurFactor.h
gtsam/slam/SmartFactorBase.h
gtsam/slam/SmartProjectionFactor.h
gtsam/slam/SmartProjectionPoseFactor.h
gtsam/slam/tests/testRegularHessianFactor.cpp
gtsam/slam/tests/testRegularImplicitSchurFactor.cpp
gtsam/slam/tests/testSmartFactorBase.cpp
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
gtsam_unstable/examples/SmartProjectionFactorExample.cpp
gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp
gtsam_unstable/slam/SmartStereoProjectionFactor.h
gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
2015-08-31 21:06:37 -07:00
a4e58d06e7
Tighter bounds
2015-08-26 20:19:26 -07:00
29ad9478f7
Move noise model initialization from add function into constructor. Can only have one noise model per factor anyway
2015-08-26 13:02:39 -04:00
6a5147b5b5
Merged in fix/SmartStereo (pull request #181 )
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Fix/smartstereo
2015-08-25 09:51:59 -04:00
08fcf65eb7
Merge remote-tracking branch 'origin/develop' into feature/cleanup_ImuFactor
2015-08-24 15:16:26 -07:00
cf5f859679
Boost optional for sensor pose
2015-08-24 15:15:57 -07:00
3ce789e577
Fix computation of bias covariance from continous-time noise density (issue #252 ).
2015-08-21 18:00:00 +02:00
b9c63ef5df
Fix and optimize DCS
2015-08-20 16:03:56 -04:00
44ae7bfe01
Fix generalized Geman-McClure
2015-08-20 16:03:56 -04:00
6cdc1de268
Use fabs in Huber condition
2015-08-20 15:45:12 -04:00
8b4228fa56
Make smart parameters public. Now easier to set, and it's sufficient for this to be const within the smart factor itself!
2015-08-19 10:58:35 -04:00
47d787b478
Add DCS & Geman-McClure unit tests
2015-08-18 22:46:36 -04:00
2969d61519
Add Geman-McClure robust kernel
2015-08-18 22:46:36 -04:00
7d256ff2fb
Add DCS robust kernel
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DCS (Dynamic Covariance Scaling) from Robust Map Optimization (Agarwal13icra)
2015-08-18 22:46:36 -04:00
1279038c77
Add Stereo triangulation comparison with expression factor
2015-08-16 20:29:23 -04:00
d9ae402168
fix TriangulationFactor bug (for stereo camera), and add new unit tests and comparisons
2015-08-16 18:14:19 -04:00
321a7dbb11
call print in Base
2015-08-16 16:34:10 -04:00
fdacba92c5
Fix use model in file, in load2D
2015-08-11 15:25:35 -04:00
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
90ea83aa38
printing covariance
2015-08-10 19:30:25 -04:00
7bb819437f
added comments
2015-08-10 19:29:55 -04:00
7fc1befdca
Two different random seeds for better Monte-Carlo
2015-08-09 11:43:26 -07:00
a3032fe367
Params::print, and comments
2015-08-09 11:23:34 -07:00
887c0d8f59
Added .cpp file and a print for parameters
2015-08-09 11:23:12 -07:00
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
3ae998d31d
Renamed to make frame clear
2015-08-04 07:32:10 -07:00
18d0966630
more Monte Carlo
2015-08-01 17:21:34 -07:00
b8f05e1e35
More tests
2015-08-01 17:21:15 -07:00
Frank Dellaert
dellaert
Chris Beall
Ivan Jimenez
Jing Dong
Ellon Mendes
Duy-Nguyen Ta
lvzhaoyang
Christian Forster
Christian Forster
Enrique Fernandez
Luca