Frank Dellaert
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1a96ef41cf
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Created Pose3Config, Pose3Graph, and tested loop closure optimization.
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2010-01-10 18:21:20 +00:00 |
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Frank Dellaert
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43b2facd10
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Now Pose3Config == LieConfig
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2010-01-10 14:59:39 +00:00 |
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Frank Dellaert
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794ffd3b2f
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Fixed significant bug in Pose2Factor, where we forgot to multiply the error with the square root inverse covariance.
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2010-01-10 13:55:55 +00:00 |
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Frank Dellaert
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5dc237eeea
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BetweenFactor is a template that models the measurement between two Lie types e.g. Pose2 or Pose3. Pose2Factor and Pose3Factor are now simply typedefs.
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2010-01-08 15:32:45 +00:00 |
Richard Roberts
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19a3e228d7
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Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes.
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2010-01-08 00:40:17 +00:00 |
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Frank Dellaert
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7dfc67860c
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unit tests for new Urban* classes
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2009-12-18 01:24:28 +00:00 |
Viorela Ila
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d61d92c0e7
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UrbanGraph class and testUrbanGraph TODOs
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2009-12-17 21:23:50 +00:00 |