Frank Dellaert
|
4b459c45c3
|
return identity
|
2010-01-12 02:09:43 +00:00 |
|
Frank Dellaert
|
5163684077
|
norm
|
2010-01-12 02:09:03 +00:00 |
|
Frank Dellaert
|
1aed18717b
|
combined evaluation and derivatives
|
2010-01-12 02:08:41 +00:00 |
Richard Roberts
|
2c8d8dbde4
|
NonlinearOptimizer constructor now requires shared_ptr to prevent storing pointers to stack and temporary variables. Code that uses it will need to be modified, but CitySLAM is already done.
|
2010-01-11 20:17:28 +00:00 |
Kai Ni
|
40889e8f50
|
added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions
|
2010-01-11 08:32:59 +00:00 |
Manohar Paluri
|
1b53a240b9
|
removed prints
|
2010-01-11 01:09:07 +00:00 |
|
Frank Dellaert
|
e9b0bade03
|
Access to keys
|
2010-01-11 00:53:53 +00:00 |
|
Frank Dellaert
|
71fe372fb3
|
test successive iterates
|
2010-01-11 00:53:43 +00:00 |
|
Richard Roberts
|
aa2aa4149c
|
Special case for trace==1 in Rot3 logmap
|
2010-01-10 23:36:37 +00:00 |
|
Richard Roberts
|
b0fd5396ad
|
Bug fix in Rot3 for logmap(identity)
|
2010-01-10 22:58:30 +00:00 |
|
Richard Roberts
|
1dcc864d97
|
Comment cleanup to /** style and adding global print functions
|
2010-01-10 22:41:23 +00:00 |
|
Kai Ni
|
78a579a24a
|
add the missing #pragma once
|
2010-01-10 22:15:34 +00:00 |
Viorela Ila
|
f8be2c2626
|
dim, expmap, logmap works
|
2010-01-10 21:53:38 +00:00 |
|
Frank Dellaert
|
64eca2d550
|
addConstraint
|
2010-01-10 19:25:19 +00:00 |
|
Frank Dellaert
|
d11b2e6bd5
|
Added omitted headers
|
2010-01-10 18:37:55 +00:00 |
|
Richard Roberts
|
88ae5380a8
|
Removed Vector-specific versions of NumericalDerivative, instead Vector is now a Lie object
|
2010-01-10 18:23:47 +00:00 |
|
Frank Dellaert
|
1a96ef41cf
|
Created Pose3Config, Pose3Graph, and tested loop closure optimization.
|
2010-01-10 18:21:20 +00:00 |
|
Frank Dellaert
|
2fe02dbaa7
|
Moved optimization tests to testPose2Graph
|
2010-01-10 18:20:10 +00:00 |
|
Richard Roberts
|
edb68b3b60
|
Fixed typo in LieConfig expmap(Vector)
|
2010-01-10 17:48:55 +00:00 |
|
Richard Roberts
|
33ba34a1f6
|
Minimized headers included in Lie.h, removed print from testLieConfig
|
2010-01-10 17:26:44 +00:00 |
|
Frank Dellaert
|
8d84078036
|
Loop closure tested
|
2010-01-10 17:02:49 +00:00 |
|
Frank Dellaert
|
12caabb667
|
Method to add a factor without having to do shared factor dance
|
2010-01-10 17:02:35 +00:00 |
|
Frank Dellaert
|
120f1301c2
|
operator[]
|
2010-01-10 17:01:48 +00:00 |
|
Frank Dellaert
|
710bce5cc4
|
Pose2Config is now simply a typedef (note that for linking specific template instantiations were needed).
|
2010-01-10 16:17:55 +00:00 |
|
Frank Dellaert
|
4a21fb9387
|
Fixed 2nd expmap template, which now creates a VectorConfig and calls the first template
|
2010-01-10 16:16:03 +00:00 |
|
Frank Dellaert
|
65e4dc1342
|
pose2Circle
|
2010-01-10 15:46:18 +00:00 |
|
Frank Dellaert
|
43b2facd10
|
Now Pose3Config == LieConfig
|
2010-01-10 14:59:39 +00:00 |
|
Frank Dellaert
|
92c58e50a1
|
Small changes, mainly const correctness
|
2010-01-10 14:59:22 +00:00 |
|
Frank Dellaert
|
c957672656
|
Small to change to work well with LieConfig
|
2010-01-10 14:55:19 +00:00 |
|
Frank Dellaert
|
794ffd3b2f
|
Fixed significant bug in Pose2Factor, where we forgot to multiply the error with the square root inverse covariance.
|
2010-01-10 13:55:55 +00:00 |
|
Frank Dellaert
|
8061f29ec5
|
added test clarifying Ax-b \approx h(x)-z
|
2010-01-10 13:54:34 +00:00 |
|
Frank Dellaert
|
f1f21a8589
|
inverted sign of square root to make inv sqrt positive for simple covariance matrices
|
2010-01-10 13:53:31 +00:00 |
|
Frank Dellaert
|
bf315781af
|
defined global functions in Lie.h rather than here
|
2010-01-10 12:35:41 +00:00 |
|
Frank Dellaert
|
6bcb9d08d6
|
Unit tests for correct "Agrawal06iros" versions: they are indeed correct.
|
2010-01-10 12:26:31 +00:00 |
|
Frank Dellaert
|
30367e35fb
|
Much faster compund rotation using Justin's (indeed correct) formula
|
2010-01-10 12:25:46 +00:00 |
|
Frank Dellaert
|
d5eade62ef
|
Moved expmap and logmap to .cpp, also tested correct "Agrawal06iros" versions, and they are indeed correct (see testPose3).
|
2010-01-10 12:24:31 +00:00 |
|
Frank Dellaert
|
ec1b57ed08
|
Added Lie required functions (trivial) for Vector. Not in Vector.h as this becomes circular.
|
2010-01-10 12:22:59 +00:00 |
|
Richard Roberts
|
4fa53a1f79
|
Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function.
|
2010-01-10 06:35:16 +00:00 |
|
Kai Ni
|
6a7987fa91
|
fix Pose2Prior problem and adding prior factor when splitting factor graph
|
2010-01-09 23:39:11 +00:00 |
|
Richard Roberts
|
2b82ff65e7
|
Deriving Lie objects from a base class Lie<T>, which provides member functions to access global functions, for use in MATLAB.
|
2010-01-09 23:15:06 +00:00 |
|
Kai Ni
|
d015b31799
|
more meaningful error messages for matrix operations
|
2010-01-09 07:06:29 +00:00 |
|
Frank Dellaert
|
cc358fb2ce
|
removed print statements
|
2010-01-09 02:37:58 +00:00 |
|
Frank Dellaert
|
5fbb820341
|
fixed comments and tolerances
|
2010-01-09 02:27:49 +00:00 |
|
Frank Dellaert
|
6851b31fad
|
Added static methods to construct rotations, coded up convention for yaw-pitch-roll, modernized RQ
|
2010-01-09 00:03:47 +00:00 |
|
Kai Ni
|
d4f92c7bb6
|
pass FactorGraph as reference into split
|
2010-01-08 20:27:10 +00:00 |
|
Kai Ni
|
06b7f8ee04
|
add split to FactorGraph
|
2010-01-08 19:07:46 +00:00 |
|
Frank Dellaert
|
5dc237eeea
|
BetweenFactor is a template that models the measurement between two Lie types e.g. Pose2 or Pose3. Pose2Factor and Pose3Factor are now simply typedefs.
|
2010-01-08 15:32:45 +00:00 |
|
Kai Ni
|
215ff24d0f
|
generate ordering by breadth-first-search, a lot faster than before
|
2010-01-08 04:12:23 +00:00 |
|
Frank Dellaert
|
8d22b3aca2
|
Just refactoring
|
2010-01-08 03:38:05 +00:00 |
|
Frank Dellaert
|
f684becf1f
|
Fixed Dbetween1
|
2010-01-08 03:06:03 +00:00 |