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 |
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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a1c55b9f62
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Updated Pose2Config to expected coding standard
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2010-01-02 10:33:33 +00:00 |
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Richard Roberts
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afc3028ad5
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Fixed bug in testPose2Factor optimize unit test where only the first expected value was checked.
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2009-12-30 18:41:33 +00:00 |
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Richard Roberts
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8d3918e7f9
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Typo made testPose2Factor not build on Linux
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2009-12-26 19:31:02 +00:00 |
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Richard Roberts
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92b60a8543
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Made 'between' derivatives in the tangent space of the solution instead of tangent space of identity, this makes Pose2 an "origin-free" manifold.
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2009-12-21 16:43:23 +00:00 |
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Richard Roberts
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3c0ae0ec1c
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Math fix in linearize() and error_vector()
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2009-12-18 00:10:20 +00:00 |
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Frank Dellaert
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2914d663de
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No print in tests
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2009-12-12 06:18:59 +00:00 |
Viorela Ila
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1a96534016
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add Pose2Graph
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2009-12-10 23:45:38 +00:00 |
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Viorela Ila
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072dea81b0
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rename Pose2Constraint using Pose2Factor
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2009-12-09 23:43:01 +00:00 |