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9828 Commits (7e3aa7aa9ab02ae173f90c64c06bd690e968083d)

Author SHA1 Message Date
Frank Dellaert e64fc532e3 Removed debug code 2016-01-18 00:24:17 -08:00
dellaert 0912b6d497 Merge remote-tracking branch 'origin/fix/ExpmapArgument' into manifold 2016-01-17 23:41:15 -08:00
dellaert e6b9c6fc95 Tiny typo, lots of mallocs! 2016-01-17 23:39:43 -08:00
dellaert 5e352d15ec Fixed test 2016-01-17 21:58:51 -08:00
dellaert 9d93ef7d13 Merge remote-tracking branch 'origin/feature/ImuFactorPush2' into manifold 2016-01-17 21:37:42 -08:00
dellaert fc1507acb7 Merge remote-tracking branch 'origin/develop' into feature/ImuFactorPush2 2016-01-17 21:36:57 -08:00
Frank Dellaert af40679dbf Merged in feature/small_Rot3_optimizations (pull request #203) 
Feature/small_rot3_optimizations
 2016-01-17 21:32:55 -08:00
dellaert c20bacf025 Fixed equals 2016-01-17 21:31:29 -08:00
dellaert 73309d6fcf Merge remote-tracking branch 'origin/feature/small_Rot3_optimizations' into feature/ImuFactorPush2 
Conflicts:
	gtsam/geometry/SO3.cpp
	gtsam/navigation/ImuFactor.h
	gtsam/navigation/PreintegratedRotation.h
 2016-01-17 19:30:25 -08:00
Frank Dellaert a0f32f6d14 Got rid of dynamic Matrix in rotate 2016-01-17 19:23:18 -08:00
Frank Dellaert c1b2e9d726 Optmized ExpmapDerivative 2016-01-17 19:22:49 -08:00
Frank Dellaert 3c1ddd7a3f Inlined skewSymmetric 2016-01-17 19:22:14 -08:00
Frank Dellaert be658119b9 Noise propagation 2016-01-17 19:18:20 -08:00
Frank Dellaert c81f91999d Trying to avoid mallocs 2016-01-17 19:17:25 -08:00
Frank Dellaert e1d810d37a Tests pass with realistic white noise strengths 2016-01-17 16:31:24 -08:00
Frank Dellaert dace8e3770 Refactored for clarity 2016-01-17 15:46:43 -08:00
Frank Dellaert 9a5a8f7c7a functors are now obsolete :-( 2016-01-17 15:17:43 -08:00
Frank Dellaert d4bbd1f289 Added numerical derivative in place of CorrectWith... 2016-01-17 15:10:54 -08:00
Frank Dellaert 1790d1dc7e Merge remote-tracking branch 'origin/feature/ImuFactorPush2' into manifold 
Conflicts:
	gtsam/navigation/ScenarioRunner.cpp
	gtsam/navigation/ScenarioRunner.h
	gtsam/navigation/tests/testScenarioRunner.cpp
 2016-01-17 14:53:50 -08:00
Frank Dellaert 43520265aa Fixed all navigation tests that were still using deprecated methods/types 2016-01-17 14:44:03 -08:00
Frank Dellaert 7c66ea1323 Synchronized write-up with code in manifold branch 2016-01-16 18:34:16 -08:00
Frank Dellaert 3975d0a642 New tests 2016-01-16 18:33:56 -08:00
Frank Dellaert c2af5400c4 Simplified derivatives - complicated "accurate" path might be wrong 2016-01-16 18:33:11 -08:00
Frank Dellaert 236a69609c Coordinate compiler flags 2016-01-16 18:25:01 -08:00
Frank Dellaert 25948677c5 Merged in fix/SmartFactorSerialization (pull request #202) 
fixed smart factors / IMU factor serialization, add unit tests
 2016-01-14 07:58:22 -08:00
Jing Dong c3edee1e2d fixed imu factor serialization, add unit test 2016-01-13 21:33:41 -05:00
Jing Dong 6ab909a92c fixed smart factors serialization, add unit tests] 2016-01-13 12:22:58 -05:00
Frank Dellaert 21a63d8d0e Using covariances again 2016-01-03 21:46:15 -08:00
Frank Dellaert c2a046cdb0 Exact dexp derivative flag 2016-01-03 10:53:50 -08:00
Frank Dellaert fb94e621e0 General noise models 2016-01-03 09:58:36 -08:00
Frank Dellaert 07693337af Massive refactor: matrices only! 2016-01-03 00:30:45 -08:00
Frank Dellaert a5c955a44c Debugging matrix version 2016-01-02 23:50:05 -08:00
Frank Dellaert 8f507d83f2 Deal w name change 2016-01-02 16:24:10 -08:00
Frank Dellaert 3f17c58a5c Merge branch 'feature/ImuFactorPush2' into manifold 
Conflicts:
	gtsam/navigation/ScenarioRunner.cpp
	gtsam/navigation/ScenarioRunner.h
 2016-01-02 16:21:01 -08:00
Frank Dellaert ac544eab89 Merge remote-tracking branch 'origin/feature/scenarios' into feature/ImuFactorPush2 
Conflicts:
	gtsam/navigation/PreintegrationBase.h
 2016-01-02 16:16:04 -08:00
Frank Dellaert 076612365e Addressed review comments by Abe 2016-01-02 16:11:11 -08:00
Frank Dellaert f11369ff4d Block-wise multiplication 2016-01-02 15:47:41 -08:00
Frank Dellaert a313fb92b9 sqrt info path 2016-01-02 15:25:56 -08:00
Frank Dellaert 2040571ad3 Predict covariance now calculated correctly 2016-01-02 14:53:41 -08:00
Frank Dellaert 97a8d21ebf Some debugging of zeta 2016-01-02 13:32:28 -08:00
Frank Dellaert 242a387ef1 Added AggregateReadings class and local functors.h header. Implemented the derivative of ExpmapDerivative correction. 2016-01-02 13:30:58 -08:00
Frank Dellaert 31eec5317c Merged in feature/biasJacobians (pull request #201) 
Feature/biasjacobians
 2015-12-30 12:12:13 -08:00
Frank Dellaert b3ffc6d824 Added missing Jacobians 2015-12-30 00:15:02 -08:00
Frank Dellaert 6f8b05c0d0 ignore some files 2015-12-30 00:14:51 -08:00
Frank Dellaert 9a26f8508e Compare diagonals as well for easy debugging 2015-12-29 17:26:15 -08:00
Frank Dellaert 2440b63e32 Fixed covariances by dividing by dt or dt22, so the right-hand nosiy measurement is indeed used with the correct noise model 2015-12-29 16:13:19 -08:00
Frank Dellaert 8a31243761 Sanity check sampler, and compare 9*9 covariance on NavState 2015-12-29 15:38:30 -08:00
Frank Dellaert e52f7ec705 discrete noise models 2015-12-29 09:47:56 -08:00
Frank Dellaert 0dfd44f26c A first implementation of noiseModel and covariance 2015-12-29 09:03:13 -08:00
Frank Dellaert 610cd5f1d3 Output matrix in right order 2015-12-29 08:46:16 -08:00