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8794 Commits (2ad50ab86ea8a681caefc73850e7cc4136db475c)

Author SHA1 Message Date
dellaert 2ad50ab86e More efficient derivatives 2015-07-30 09:48:00 -07:00
dellaert cefc441fba bodyVelocity and working update derivatives 2015-07-30 09:39:25 -07:00
dellaert 13f8935c52 update prototype 2015-07-30 08:05:39 -07:00
dellaert 9c35c931f6 Modernized test 2015-07-29 21:53:18 -07:00
dellaert 7149b8ee42 Avoid duplicate calculation of D_acc_R 2015-07-29 21:21:03 -07:00
dellaert e5ace26d5f Split method in const and non-const part 2015-07-29 21:04:11 -07:00
dellaert d0467c53dd Use PreintegratedRotation::integrateMeasurement 2015-07-29 20:40:19 -07:00
dellaert aebe8161dd Strengthened AHRS tests 2015-07-29 16:14:42 -07:00
dellaert 0b4919e099 Refactoring of integrateMeasurement to reduce copy/paste 2015-07-29 15:49:03 -07:00
dellaert 75cc3020eb Fixed all but sensor_pose error 2015-07-29 12:01:22 -07:00
dellaert 2a9e1db4cb Merge branch 'feature/cleanup_ImuFactor' into noiseModelMixup 2015-07-29 11:54:16 -07:00
dellaert 9d1111a767 Derivative accuracy 2015-07-29 11:53:24 -07:00
dellaert 999a19a57d More tests on localCoordinates 2015-07-29 11:52:46 -07:00
dellaert 5ca67d0a3a FromPoseVelocity 2015-07-29 11:20:35 -07:00
dellaert 5b9bf9affa Fix the noise covariances to conform to new error order... 2015-07-29 15:43:42 +02:00
dellaert 96c139ac87 Diff of individual Jacobians 2015-07-29 15:42:45 +02:00
dellaert 8992cf7832 Merge branch 'regression_test' into feature/cleanup_ImuFactor 
Conflicts:
	gtsam/navigation/tests/testImuFactor.cpp
 2015-07-27 19:05:55 +02:00
dellaert 2007391987 Better test, with 2nd order integration 2015-07-27 18:35:56 +02:00
dellaert b1ec4d5876 Merge branch 'regression_test' into feature/cleanup_ImuFactor 
Conflicts:
	gtsam/navigation/tests/testImuFactor.cpp
 2015-07-27 16:17:05 +02:00
dellaert 11d0ad0d78 Covariance regression values 2015-07-27 16:12:41 +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 18ff25b67f Cleaned up test while reading it 2015-07-25 17:34:16 +02:00
dellaert 0310eb4e7b Fixed compilation errors 2015-07-25 10:02:38 +02:00
dellaert 7407b605b9 Merge remote-tracking branch 'origin/develop' into fix/imuFactor_BodyPSensor 
Conflicts:
	gtsam/navigation/CombinedImuFactor.cpp
	gtsam/navigation/ImuFactor.cpp
	gtsam/navigation/PreintegrationBase.h
	gtsam/navigation/tests/testImuFactor.cpp
 2015-07-25 10:02:20 +02:00
Frank Dellaert ef94ef35ee Merged in feature/ImprovedLie2 (pull request #178) 
Improved Lie derivatives
 2015-07-24 17:48:39 +02:00
dellaert 5c67ceacac Merge branch 'feature/NavState_new_retract' into feature/cleanup_ImuFactor 2015-07-24 17:42:38 +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 110a046fb6 Fixed compile issue and tightened tolerances 2015-07-24 16:05:15 +02:00
dellaert 52f109640c Merge remote-tracking branch 'origin/feature/ImprovedLie2' into feature/NavState_new_retract 
Conflicts:
	gtsam/base/Lie.h
 2015-07-24 16:03:17 +02:00
dellaert 05dfcf2dbf Added retract/logmap and commented more clearly 2015-07-24 15:32:27 +02:00
dellaert e296f320f5 Inlined compose and between derivatives in expmap/logmap 2015-07-24 15:10:00 +02:00
dellaert 7a78d54fc3 derivatives for Local and localCoordinates 2015-07-24 14:43:06 +02:00
dellaert 9bcdf972f8 Asserting that computeError is just localCoordinates 2015-07-24 14:17:46 +02:00
dellaert 77d8e7d0bd All tests pass now ! 2015-07-24 13:39:50 +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 0bb73bae9e Comments 2015-07-23 16:59:26 +02:00
dellaert de76314488 Straight line example, including finding defect in using first-order approximation 2015-07-23 14:21:29 +02:00
dellaert 85085e882d Removed Lie tests (now in testNavState) 2015-07-22 22:24:53 +02:00
dellaert a99911b997 Now uses NavState::predict ! 2015-07-22 22:24:19 +02:00
dellaert 7ccfb95339 Favor fields not methods 2015-07-22 22:23:14 +02:00
dellaert 9b3c051ca1 Fied argument types 2015-07-22 22:22:31 +02:00
dellaert a098289861 Moved fields to protected 2015-07-22 22:22:05 +02:00
dellaert 8ae4e2afd9 A fully functioning predict from preintegrated tangent vector 2015-07-22 17:46:03 +02:00
dellaert 2a38ed9603 Additive version for coriolis forces 2015-07-22 01:01:19 -04:00
dellaert eb42a57860 Merge branch 'regression_test' into feature/NavState_new_retract 
Conflicts:
	gtsam/navigation/tests/testImuFactor.cpp
 2015-07-22 00:42:06 -04:00