Richard Roberts
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2c8d8dbde4
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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.
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2010-01-11 20:17:28 +00:00 |
Frank Dellaert
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64eca2d550
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addConstraint
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2010-01-10 19:25:19 +00:00 |
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Frank Dellaert
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2fe02dbaa7
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Moved optimization tests to testPose2Graph
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2010-01-10 18:20:10 +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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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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82825a30bf
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Fixed unit test broken by fix in Pose2Factor
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2009-12-18 14:42:19 +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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03304ac421
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testPose2Graph tests linearize
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2009-12-11 19:32:46 +00:00 |
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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 |