Frank Dellaert
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5e00c58ea7
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Baker–Campbell–Hausdorff formula: in non-commutative Lie groups, when composing exp(Z) = exp(X)exp(Y) it is not true that Z = X+Y. Instead, Z can be calculated using the BCH formula:
Z = X + Y + [X,Y]/2 + [X-Y,[X,Y]]/12 - [Y,[X,[X,Y]]]/24 + ...
See http://en.wikipedia.org/wiki/Baker–Campbell–Hausdorff_formula
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2010-02-27 14:58:54 +00:00 |
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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Frank Dellaert
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8088aea598
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Added double as Lie type, needed to remove Lie.h include from Vector.h
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2010-01-14 05:58:58 +00:00 |
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Richard Roberts
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1dcc864d97
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Comment cleanup to /** style and adding global print functions
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2010-01-10 22:41:23 +00:00 |
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Frank Dellaert
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92c58e50a1
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Small changes, mainly const correctness
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2010-01-10 14:59:22 +00:00 |
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Frank Dellaert
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ec1b57ed08
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Added Lie required functions (trivial) for Vector. Not in Vector.h as this becomes circular.
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2010-01-10 12:22:59 +00:00 |
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Richard Roberts
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4fa53a1f79
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Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function.
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2010-01-10 06:35:16 +00:00 |
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Richard Roberts
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2b82ff65e7
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Deriving Lie objects from a base class Lie<T>, which provides member functions to access global functions, for use in MATLAB.
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2010-01-09 23:15:06 +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 |