Paul Furgale
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7f7c181945
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Replaced ChartValue with GenericValue. Now at the point where we are bumping up against missing Jacobians in gtsam types. It feels like progress.
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2014-12-14 12:13:59 +01:00 |
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Paul Furgale
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6b04fee048
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Changed some lie groups to manifolds
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2014-12-13 22:26:49 +01:00 |
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Paul Furgale
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58cb47a3f0
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Started converting types. Into the ChartValue now.
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2014-12-13 22:20:59 +01:00 |
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Paul Furgale
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959716ae92
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A lot more progress making things work. Still a long way to go.
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2014-12-13 12:47:52 +01:00 |
Mike Bosse
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94c2490b6f
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minor
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2014-12-12 21:31:00 +01:00 |
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Mike Bosse
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df8dc1f99c
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fixing little things... far from done
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2014-12-12 21:12:17 +01:00 |
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Paul Furgale
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d383b44cc6
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Trying to make everything compile for a smooth transition
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2014-12-12 20:13:35 +01:00 |
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Paul Furgale
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02ceb1366b
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Progress on compilation
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2014-12-12 17:02:15 +01:00 |
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Paul Furgale
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91efa7f2a1
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Added convenience traits wrapper for internal gtsam types
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2014-12-12 16:42:33 +01:00 |
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Mike Bosse
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d94c8c72b8
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cyclic trait refactored
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2014-12-12 14:51:16 +01:00 |
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Mike Bosse
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edb1bbaa7b
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quaternion trait refactored
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2014-12-12 14:18:39 +01:00 |
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Mike Bosse
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cc9ab9c6ed
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starting transition to kitchen sink trait class
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2014-12-12 11:43:54 +01:00 |
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Mike Bosse
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6f992e623e
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untabify
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2014-12-12 10:06:43 +01:00 |
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Paul Furgale
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409214e165
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Updated documentation
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2014-12-11 16:28:32 +01:00 |
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Paul Furgale
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79086327a6
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Making things in sync
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2014-12-11 12:54:48 +01:00 |
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Paul Furgale
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24e1334e5a
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Trying to update the concepts definition to reflect reality
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2014-12-11 12:41:16 +01:00 |
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Mike Bosse
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376dec5103
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cleaned up a bit; but not really working yet. Trouble with partial specialization of lie_group::expmap<Quaternion<> >()
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2014-12-11 03:15:45 +01:00 |
dellaert
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21b97ddedf
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Removed obsolete methods (but link error!)
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2014-12-09 01:04:21 +01:00 |
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dellaert
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449ba1f37a
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LieGroupChart makes use of Exponential map (and its inverse) around identity
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2014-12-09 00:52:53 +01:00 |
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dellaert
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3077d03568
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Header should also be included in non-quaternion mode
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2014-12-09 00:11:28 +01:00 |
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dellaert
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8fcf9d9866
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SO(3) is a *Matrix* Lie group. This is it. Rot3 will inherit from this *or* Quaternion.
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2014-12-09 00:11:28 +01:00 |
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dellaert
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118d561e96
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Created GTSAM_GROUP_IDENTITY as it handles templates differently
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2014-12-09 00:11:28 +01:00 |
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Frank Dellaert
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473bc1b703
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Derivatives of Charts, and special Lie group treatment
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2014-12-08 13:08:39 +00:00 |
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dellaert
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9dc3d28bf2
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Now Rot3 uses QuaternionChart Expmap/Logmap in quaternion mode
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2014-12-08 13:16:30 +01:00 |
|
dellaert
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8cbab779b3
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Slight refactor
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2014-12-08 13:16:30 +01:00 |
|
dellaert
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ccd843040e
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Small change in file that might disappear anyway
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2014-12-08 13:16:30 +01:00 |
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Paul Furgale
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2af04a8e41
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Typo...
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2014-12-08 10:26:04 +00:00 |
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Frank Dellaert
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fd9f5ae1ec
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Clarified derivatives of group actions
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2014-12-08 09:42:56 +00:00 |
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Paul Furgale
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2b1d907a74
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More indentation fixes.
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2014-12-08 08:55:14 +00:00 |
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Paul Furgale
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21596e1894
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Making the indentation work in Markdown view.
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2014-12-08 08:51:27 +00:00 |
|
dellaert
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fd59783fae
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Forgot to check in how to use macros...
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2014-12-07 21:03:54 +01:00 |
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dellaert
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949a6b7f4c
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Found solution for template arguments in macros. Requires a bit more from caller, but is better. I quite like the MACROS: It's compact...
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2014-12-07 19:55:06 +01:00 |
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dellaert
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04d3457b45
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First working Manifold macro
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2014-12-07 19:30:46 +01:00 |
|
dellaert
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62ae58e7ea
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Quaternion header
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2014-12-07 19:13:02 +01:00 |
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dellaert
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10ae9f5505
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Easier to read with Cyclic<3>
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2014-12-07 18:55:49 +01:00 |
|
dellaert
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481be10509
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A bit more compact
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2014-12-07 18:55:33 +01:00 |
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dellaert
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9194b92cf6
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Now work with MACROS instead - but get linking error. Upside (if we can fix that): uniform treatment between foreign types (see Quaternion) and GTSAM types (Cyclic). Downside: seems I had to create a different macro for different number of template arguments. Help?
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2014-12-07 18:41:18 +01:00 |
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dellaert
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38a0842090
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Macros. Too ugly?
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2014-12-07 18:01:30 +01:00 |
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dellaert
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19c38b91ee
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Finish CRTP in Cyclic
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2014-12-07 15:59:31 +01:00 |
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dellaert
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ef58a8a56a
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Attempt at satisfying Group concept by deriving from base class. Needs to be fixed, also, test does not link :-(
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2014-12-07 13:24:59 +01:00 |
|
dellaert
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022e930085
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Fixed typo
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2014-12-07 13:23:59 +01:00 |
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dellaert
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e0e2a9b063
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Eigen::Quaternions now satisfy IsManifold, IsGroup, and IsLieGroup! Also reverted back to a simpler treatment of Charts.
Merge branch 'traits/quaternion' into feature/tighteningTraits
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2014-12-07 13:06:32 +01:00 |
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dellaert
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cdc0029158
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Reverted on Chart base class. But no chart-specific traits needed, as assumed created by us.
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2014-12-07 13:01:25 +01:00 |
|
dellaert
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a31e596448
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Working local/Logmap (taken from Rot3Q)
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2014-12-07 12:47:26 +01:00 |
|
dellaert
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36da8702f9
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Retract works
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2014-12-07 12:35:17 +01:00 |
|
dellaert
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8db8cb54b0
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Some chart refinement (early check does not work)
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2014-12-07 12:35:05 +01:00 |
|
dellaert
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e2f250c160
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Added Manifold, Lie Group, and Vector Space concepts back in
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2014-12-07 11:52:09 +01:00 |
|
dellaert
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01aab77504
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Made Testable a boost concept
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2014-12-07 11:51:40 +01:00 |
|
dellaert
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187760ce95
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Refactor for readability
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2014-12-07 10:20:54 +01:00 |
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dellaert
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3a6b89e840
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Now all Eigen::Quaternion flavors are certified as IsGroup
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2014-12-07 10:19:38 +01:00 |