gtsam

Author	SHA1	Message	Date
Chris Beall	a956c1a8be	svn restored from 1733. this commit updates gtsam to version 1774, which now appears as 1734.	2010-01-16 01:16:59 +00:00
Frank Dellaert	5c0cd093fd	moved relative_bearing to Rot2, changed derivatives to new-style	2010-01-14 16:57:48 +00:00
Richard Roberts	19a3e228d7	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.	2010-01-08 00:40:17 +00:00
Richard Roberts	7161878285	Small changes: standardized constructors, added log() and unit tests, removed +,- ops, angle() changed to theta(), print functions	2009-12-18 00:09:54 +00:00
Richard Roberts	71bc9ca0f7	Added unit tests that were missing	2009-12-14 15:45:45 +00:00
Frank Dellaert	7d4de3ec20	Added a 1D manifold implementation of 2D rotations. The new representation stores (cos theta, sin theta) rather than theta itself, ensuring that (a) rotate and unrotate do not call cos/sin, (b) same for all derivatives of rotate and unrotate, (c) when you call angle(), you always get the standardized answer given by atan2. The idea is that we will use this new type in Pose2 instead of angle.	2009-12-09 21:50:27 +00:00