Richard Roberts
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b82d054aaa
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Definitions of Lie::between, Pose2::compose, expmap, and derivatives were not correct. Fixed, but changes some behavior (iSAM and CitySLAM already fixed), will send email about this change.
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2010-01-26 20:00:17 +00:00 |
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Richard Roberts
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aa2aa4149c
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Special case for trace==1 in Rot3 logmap
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2010-01-10 23:36:37 +00:00 |
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Richard Roberts
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b0fd5396ad
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Bug fix in Rot3 for logmap(identity)
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2010-01-10 22:58:30 +00:00 |
Frank Dellaert
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30367e35fb
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Much faster compund rotation using Justin's (indeed correct) formula
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2010-01-10 12:25:46 +00:00 |
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Frank Dellaert
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5fbb820341
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fixed comments and tolerances
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2010-01-09 02:27:49 +00:00 |
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Frank Dellaert
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6851b31fad
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Added static methods to construct rotations, coded up convention for yaw-pitch-roll, modernized RQ
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2010-01-09 00:03:47 +00:00 |
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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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b20ed42134
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log and between
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2010-01-06 19:29:41 +00:00 |
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Frank Dellaert
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f77da96caf
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Modernized and tested RQ and added Rot3::ypr. Note this yaw-pitch-roll is different from ML version, which is focused on cameras. Let the fun begin...
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2010-01-06 15:52:43 +00:00 |
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Frank Dellaert
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f82b46f96c
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Sped up rodriguez and replaced slow implementation with call to fast implementation. Also moved some functions to cpp.
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2010-01-02 14:28:18 +00:00 |
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Frank Dellaert
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768befbd85
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Faster inverse by avoiding matrix intermediate
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2009-09-14 04:39:36 +00:00 |
Alireza Fathi
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214637cee9
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fixed rodriguez in Rot3
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2009-09-03 17:43:02 +00:00 |
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Richard Roberts
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d80fa24a9f
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Fixing directory structure
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2009-08-21 22:23:24 +00:00 |