dellaert
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113b9d2e74
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Got rid of unnecessary LieVector usage that broke fixed-code
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2014-10-22 01:32:59 +02:00 |
Richard Roberts
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880d9a8e3c
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Switched to new Eigen built-in special comma initializer
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2013-12-16 21:33:12 +00:00 |
Jing Dong
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615c223f81
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Fix Vector_() to Vec() in gtsam/geometry
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2013-10-20 07:10:17 +00:00 |
Duy-Nguyen Ta
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1631222a29
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fix streaming tests to agree with new print in matlab column vector style
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2013-08-08 08:44:00 +00:00 |
Frank Dellaert
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1251ba9abb
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ostream << operator
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2013-06-06 01:21:34 +00:00 |
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Duy-Nguyen Ta
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104ad15e91
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Separate adjointMap, which returns a matrix, and adjoint+adjointTranspose actions on a vector with optional derivatives. Also, change dExpInv_TLN to dExpInv_exp with higher order of approximation
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2013-04-29 21:22:33 +00:00 |
Alex Cunningham
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26f5f93c60
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Added Pose3::align() for labeled correspondences. Fixed depreciated make targets.
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2013-04-29 18:06:33 +00:00 |
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Duy-Nguyen Ta
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cde44b2952
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Finally finish implementing the Reconstruction factor for updating the poses of holonomic vehicles using discrete variational integrators (eq. 10 in [Kobilarov09siggraph]). Also, better approximation for the derivative of the inverse expmap wrt the lie algebra in Pose3. Test with numericalderivative.
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2013-04-22 08:34:40 +00:00 |
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Duy-Nguyen Ta
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96f9ecaf53
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Change "adjoint" and "adjoint_map" to Adjoint and Adjoint_map, since they correspond to Lie group's Ad operator. Implement the Lie algebra's adjoint operator, aka Lie bracket, and the inverse right-trivialized tangent map of the exponential map using the trapezoidal Lie-Newmark scheme, as detailed in [Kobilarov09siggraph]
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2013-04-21 05:50:07 +00:00 |
Chris Beall
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4297d24c96
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changed tabs to spaces for consistent indentation in all of GTSAM
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2012-10-02 14:40:07 +00:00 |
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Richard Roberts
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c2c9c4a982
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Almost everything compiles and passes in windows
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2012-05-23 18:51:49 +00:00 |
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Frank Dellaert
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659e524fa0
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Constructor from Pose2
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2012-01-10 05:05:36 +00:00 |
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Richard Roberts
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f2638b2c0c
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Fixed names of coordinates modes in Rot3 and Pose3
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2012-01-08 21:25:29 +00:00 |
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Richard Roberts
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4f59f58cd1
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retract and localCoordinates optional argument in Pose3 to switch between different math versions, and unit testing all versions
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2012-01-08 20:43:17 +00:00 |
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Frank Dellaert
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dae02c387f
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Implemented and tested Rot3.retract based on the Cayley Transform (about three times faster)
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2012-01-06 01:30:10 +00:00 |
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Frank Dellaert
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e6382c7ec0
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Fixed major problem with Pose3 retract. All retractions have to have exactly the same derivatives as the exponential map. Hence, it should never make sense to have to match derivaties with a retract version. I deleted all "wrong" derivatives and pushforwards. Finally, CalibratedCamera had to be modified as well as it hardcoded the wrong derivative of transform_to (for efficiency). It now simply implements the chain rule.
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2012-01-05 16:45:52 +00:00 |
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Frank Dellaert
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53946b28d0
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Fixed calls of adjointMap and tested correct exponential map derivatives based on them
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2012-01-04 14:23:50 +00:00 |
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Alex Cunningham
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b9017198db
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Removed extraneous matlab-related functions and duplicated, commented tests
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2011-12-08 01:16:04 +00:00 |
|
Alex Cunningham
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4b4815e97f
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Added more functions to wrap, started going though wrap tests
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2011-12-01 18:57:32 +00:00 |
|
Alex Cunningham
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af9320e468
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Cleaned up commented code
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2011-11-10 15:19:04 +00:00 |
|
Richard Roberts
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716c5175ab
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Quaternion implementation of Rot3, made default with GTSAM_DEFAULT_QUATERNIONS
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2011-11-09 01:40:20 +00:00 |
|
Alex Cunningham
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d340e556b5
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Fixes due to bad merge
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2011-11-07 21:16:26 +00:00 |
|
Alex Cunningham
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2b9a3db085
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Added Group concept, reworked naming and conventions to reduce unnecessary functions
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2011-11-05 23:01:43 +00:00 |
|
Alex Cunningham
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07aaf38245
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Geometry passes tests with newer interfaces and more concept checks
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2011-11-04 21:44:29 +00:00 |
|
Alex Cunningham
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3b5c6e8cef
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Removed old Testable base class
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2011-10-20 02:11:28 +00:00 |
|
Alex Cunningham
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541c1085db
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Added a range to pose function for Pose3
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2011-10-06 20:47:23 +00:00 |
|
Alex Cunningham
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e20561be73
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Merge branch 'eigen'
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2011-05-20 13:52:08 +00:00 |
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Richard Roberts
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1a94808f57
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Tightened thresholds in Rot3, Pose3, Rot2, Pose2, that were "correcting" numbers to zero and one with too loose tolerance. This made it necessary to specify large steps for numerical derivatives (1e-2 instead of the default 1e-5). Fixed this, and updated unit tests to use the default step size.
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2011-04-08 18:41:50 +00:00 |
|
Frank Dellaert
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105041ae01
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cmath rather than math.h
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2011-03-21 15:05:40 +00:00 |
|
Alex Cunningham
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86c0c06689
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Added global functions to Lie to allow for template access to full expmap/logmap
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2011-02-02 06:31:23 +00:00 |
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Alex Cunningham
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8398c8a53d
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Made versions with [expmap|logmap]Full() for Pose2 and Pose3 to allow access to complete expmap functions, while also allowing for the concurrent existence of the approximate expmap for optimization speed
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2011-02-02 05:17:21 +00:00 |
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Alex Cunningham
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9d03789b8b
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Added unicycle test for expmap of Pose3, and it fails due to wrong expmap
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2011-01-13 18:23:24 +00:00 |
|
Alex Cunningham
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120b6878cf
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Fixed range function for Pose3
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2011-01-13 17:09:29 +00:00 |
|
Alex Cunningham
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6348a33165
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Added range measurement function to Pose3
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2011-01-12 19:31:04 +00:00 |
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Richard Roberts
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2c90e3d836
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Moved the subdirectories that compile into libgtsam.la into a 'gtsam' subdirectory. Hopefully a good fix for the problem we had trying to make a gtsam distribution, that the source directory may not be called 'gtsam'.
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2010-10-25 20:10:33 +00:00 |