a4c769fddc
Added serialization to Pose2
2010-03-12 14:20:29 +00:00
45b2eef13f
Adjoint
2010-03-05 03:02:23 +00:00
c9fcf95501
fixed some issues in SE(2) "branch"
2010-03-03 05:34:08 +00:00
707627fb3a
Rot2 "named constructors" ( http://www.parashift.com/c++-faq-lite/ctors.html#faq-10.8 ):
...
/** Named constructor from angle == exponential map at identity */
static Rot2 fromAngle(double theta) { return Rot2(cos(theta),sin(theta));}
/** Named constructor from cos(theta),sin(theta) pair, will *not* normalize! */
static Rot2 fromCosSin(double c, double s);
/** Named constructor that behaves as atan2, i.e., y,x order (!) and normalizes */
static Rot2 atan2(double y, double x);
which are a bit more verbose, but at least won't cause hours of bug-tracking :-(
I also made most compose, inverse, and rotate functions into methods, with the global functions mostly calling the methods. Methods have privileged access to members and hence are typically much more readable.
2010-03-03 03:31:53 +00:00
f956bae6a4
combined version only
2010-03-02 02:27:09 +00:00
28f4493a2b
Now uses Adjoint map for derivatives of inverse/compose/between, see doc/math.pdf
2010-02-28 09:10:39 +00:00
b58f7b8ea7
the derivative for transform_from
2010-02-28 08:51:43 +00:00
87c8465315
the beautiful Jacobian of compose in pose2
2010-02-26 10:55:41 +00:00
696be0d0c1
RETURN CONST REFERENCES WHERE YOU CAN and some inlining
2010-02-24 06:14:43 +00:00
c26219e3d4
Added Pose2::matrix() function.
2010-02-18 16:27:01 +00:00
b82d054aaa
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.
2010-01-26 20:00:17 +00:00
3bf15333af
move ordering into the solver, and the nonlinear optimizer is now exact <G, T, L>
2010-01-20 02:28:23 +00:00
a956c1a8be
svn restored from 1733.
...
this commit updates gtsam to version 1774, which now appears as 1734.
2010-01-16 01:16:59 +00:00
1aed18717b
combined evaluation and derivatives
2010-01-12 02:08:41 +00:00
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
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
19a3e228d7
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.
2010-01-08 00:40:17 +00:00
92b60a8543
Made 'between' derivatives in the tangent space of the solution instead of tangent space of identity, this makes Pose2 an "origin-free" manifold.
2009-12-21 16:43:23 +00:00
7161878285
Small changes: standardized constructors, added log() and unit tests, removed +,- ops, angle() changed to theta(), print functions
2009-12-18 00:09:54 +00:00
94f986bbe7
Indentation
2009-12-15 00:00:02 +00:00
c4b60bfd65
Closing # 118: Made Pose2 use Rot2, added 'compose' for Pose2, made slight modifications to Rot2. Also added additional unit tests. This change shouldn't break anything but let me know if it does.
2009-12-14 03:02:05 +00:00
d1ab2c7288
transform_to and between, with derivatives, unit-tested
2009-12-08 19:12:20 +00:00
6ead19648f
Modernized Pose2 constraint and added numerical derivative check
2009-12-08 14:02:56 +00:00
11f0d04cb6
made all classes that currently have an assert_equal "Testable"
...
- derive from testable as in class Point2 : Testable<Point2>
- moved print and equal declarations in .h right after the constructor
- similarly, moved implementations after constructors in .cpp file
- removed obsolete assert_equal
2009-10-26 19:26:51 +00:00
597af891cb
add comments
2009-09-11 20:51:49 +00:00
179b5c09ae
static members for creating "level" cameras as we find on idealized robots
2009-08-29 06:54:10 +00:00
3432b6c50f
new Pose2 class
2009-08-29 01:24:26 +00:00
Manohar Paluri
Frank Dellaert
Kai Ni
Richard Roberts
Chris Beall
Brian Law