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7587 Commits (7213f0b2eb9350a44ca7b6c75b7e625f9a6366c8)

Author SHA1 Message Date
dellaert 7213f0b2eb Moved Canonical to AdaptAutoDiff.h for now 2014-12-25 17:42:44 +01:00
dellaert ce425524c0 Fix small mistake in Equals 2014-12-25 17:41:06 +01:00
dellaert 4635d22d7f Now argument of LogmapDerivative is correct 2014-12-25 16:22:21 +01:00
dellaert 1b61d0a7f3 New tests for Expmap/Logmap derivatives 2014-12-25 16:11:13 +01:00
dellaert 8191ad5078 Rot3 modernization: now derives from LieGroup, SLOW_CAYLEY is gone, retract and localCoordinates auto-generated so no more flag. Might re-add instance-based expmap and logmap in LieGroup for convenienece. 2014-12-24 17:43:38 +01:00
dellaert 72c539fa9c Target 2014-12-24 15:24:48 +01:00
dellaert 78386ad144 Merge ExmapeDerivative/LogmapDerivative changes from 'origin/develop' into feature/tighteningTraits 
Conflicts:
	gtsam/base/LieScalar.h
	gtsam/geometry/Point2.h
	gtsam/geometry/Point3.h
	gtsam/geometry/Rot3.h
	gtsam/geometry/Rot3M.cpp
	gtsam/geometry/Rot3Q.cpp
	gtsam/geometry/tests/testRot3.cpp
 2014-12-24 13:55:15 +01:00
Frank Dellaert 7dfbcc04e9 Merged in feature/ExmapDerivative (pull request #77) 
Logmap and Expmap derivatives
 2014-12-24 12:51:18 +01:00
dellaert e0a767e7fd Renamed all dexpL/dexpInvL, merged Luca/Duy versions in Rot3 2014-12-24 12:25:53 +01:00
dellaert 2ffa9dc6d2 Renamed old Rot3 methods 2014-12-24 11:36:06 +01:00
dellaert 2f31500170 Removed print/equals testing (not its place, spurious output) 2014-12-24 11:35:17 +01:00
dellaert d9f5681dc2 Fixed warning 2014-12-24 11:34:53 +01:00
dellaert 0a7e099eec Merged in Luca's rename to ExpmapDerivative and LogMapDerivative from 'origin/feature/imuFixed' 2014-12-24 11:07:52 +01:00
dellaert f22c922600 The great Lie group heist: LieGroup CRTP class that defines both Manifold and Lie Group methods for a class, using AdjointMap as its main weapon. For the retract/localCoordinates, a ChartAtOrigin struct needs to be defined that can be switched at compile time (example Pose2). Rot3, Pose3 soon to follow. 2014-12-24 01:37:30 +01:00
dellaert 6ddd37a0e2 typename 2014-12-24 01:35:04 +01:00
dellaert 3d15868ece Renamed internal::LieGroup -> internal::LieGroupTraits 2014-12-24 01:34:33 +01:00
dellaert 82c8fd181a Lie group traits tested 2014-12-24 01:33:38 +01:00
dellaert 6a52d93e96 Using FixedDimension 2014-12-24 01:29:08 +01:00
dellaert 4078f02c1f Fixed typo 2014-12-23 21:39:15 +01:00
dellaert b67ef25b96 Print via traits 2014-12-23 21:37:43 +01:00
dellaert b9de4a6f47 AdjointMap 2014-12-23 21:37:28 +01:00
krunalchande d3c8d348c5 Changed dynamic allocations of ones, zeros and identity matrices to static. 2014-12-23 11:32:02 -05:00
dellaert 6d05069ef7 Cleaned up and tested dynamic version 2014-12-23 14:56:49 +01:00
dellaert 36f8510d7d Made clear template argument is a class, eliminated small amount of copy/paste. 2014-12-23 14:56:49 +01:00
dellaert 6648da20fe Made clear template argument is a class, made explicit only fixed-size types handled for now 2014-12-23 14:56:49 +01:00
dellaert ea3b4624d8 Testable concept prereqs check 2014-12-23 14:56:48 +01:00
dellaert 8f56e9a261 Small refactor 2014-12-23 14:56:48 +01:00
dellaert b565708851 testOptionalJacobian target 2014-12-23 14:56:48 +01:00
Mike Bosse 52ec4f0784 fixed serialization tests 2014-12-23 12:35:49 +01:00
dellaert c6ae119414 Tightened what is needed for Lie, i.e., fewer versions of retract/localCoordinates 2014-12-22 23:42:52 +01:00
dellaert f5c9c24330 Corrected sillyness 2014-12-22 23:41:42 +01:00
dellaert 55fe170d4f ImuBias loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 17:26:44 +01:00
dellaert 355b938f3a Point3 loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 17:22:45 +01:00
dellaert 7491ea4028 Comments 2014-12-22 17:22:26 +01:00
dellaert 0200e382b3 FixedDimension 2014-12-22 17:22:09 +01:00
dellaert 65ae450abd Point2 loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 16:05:16 +01:00
dellaert 5473550eea Using traits in many places (forced by loss of Point2 mojo) 2014-12-22 16:02:33 +01:00
dellaert 469b1d4e92 Fixed-size version of VectorSpace 2014-12-22 15:03:05 +01:00
dellaert 128cc741ac LieScalar loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 14:55:14 +01:00
dellaert e9fa599a78 LieVector loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 14:46:16 +01:00
dellaert 74ac79d588 LieMatrix loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 14:25:14 +01:00
Mike Bosse 242ebca494 Merge branch 'feature/tighteningTraits' of https://bitbucket.org/gtborg/gtsam into feature/tighteningTraits 2014-12-22 13:56:33 +01:00
Mike Bosse 749eeaebf8 fixed testAHRSFactor 2014-12-22 13:56:19 +01:00
Mike Bosse 628c4fbdab Fixed -> Matrix 2014-12-22 13:55:59 +01:00
dellaert 02067dd5d0 Re-enabled concept checks 2014-12-22 13:51:25 +01:00
dellaert 6ea60745eb Fixed incorrect template argument leading to test failure 2014-12-22 13:13:57 +01:00
dellaert e44dfa5052 Fixed incorrect template argument leading to test failure 2014-12-22 13:07:51 +01:00
dellaert 903e5a3a86 Restored old path, added SLOW_BUT_CORRECT_BETWEENFACTOR ifdef 2014-12-22 13:07:51 +01:00
dellaert 16679f63ed new targets 2014-12-22 13:07:51 +01:00
Mike Bosse 77fbe5cabc Merge branch 'feature/tighteningTraits' of https://bitbucket.org/gtborg/gtsam into feature/tighteningTraits 2014-12-22 11:33:58 +01:00