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515 Commits (89ca6fb92542a92e1d50d4ac5cb5b1b159c8fba8)

Author SHA1 Message Date
Frank Dellaert 77d4e4c33e Got rid of spurious argument 2016-01-30 13:29:02 -08:00
Frank Dellaert 14a87c4ecc Renamed zeta to preintegrated 
Simplified sensor pose handling
 2016-01-30 13:13:48 -08:00
Frank Dellaert ba5d4ffa6c Don't use numerical derivative 2016-01-30 12:45:27 -08:00
Frank Dellaert f498a96582 Got rid of cumbersome TangentVector struct 2016-01-30 12:42:01 -08:00
Frank Dellaert 2a244cac12 Drastic simplification triumph ! 2016-01-30 11:58:11 -08:00
Frank Dellaert b7d54e60b6 Radically simplified bias derivative tests 2016-01-30 11:42:55 -08:00
Frank Dellaert 5d95d66077 Simplifying bias tests 2016-01-30 11:00:25 -08:00
Frank Dellaert 984a90672f Deprecated constructor + fixed parameter name 2016-01-30 10:19:04 -08:00
Frank Dellaert 3a2c2e23be Small refactor for clarity 2016-01-30 10:10:43 -08:00
Frank Dellaert 3af7e80f97 Derivatives match! 2016-01-30 09:52:13 -08:00
Frank Dellaert d2d6590854 Refactor of bias derivatives. 
New bias derivatives work for acc but not omega
 2016-01-29 23:27:59 -08:00
Frank 23e76efdc4 Some instrumentation 2016-01-29 17:42:19 -08:00
dellaert 8a45320ae2 Fixed MATLAB wrapper 2016-01-28 09:54:47 -08:00
dellaert 127cfdcfde Fix Rot3 statics 2016-01-28 09:53:03 -08:00
dellaert da9a5e2746 Moved ostream and print to cpp to not pollute includes 2016-01-28 08:24:00 -08:00
dellaert 0470c318a4 Typos 2016-01-28 01:14:04 -08:00
dellaert ad01b73eba Use new deprecated flag 2016-01-28 01:13:55 -08:00
dellaert 558dfa458a Merge remote-tracking branch 'origin/develop' into feature/ImuFactorPush2 
Conflicts:
	gtsam/navigation/tests/testCombinedImuFactor.cpp
	gtsam/navigation/tests/testImuFactor.cpp
 2016-01-28 01:13:08 -08:00
Frank 1c19b4e803 More wrapping 2016-01-27 21:23:45 -08:00
Frank 7b60c50297 New method computeError, and more derivative checking (though, expression factors already checked out) 2016-01-27 16:51:09 -08:00
Frank 8126e6b51d add navState method 2016-01-27 15:15:33 -08:00
Frank fa97e5d220 Better printing 2016-01-27 14:15:16 -08:00
Frank 3bb34679be Split into two units 2016-01-27 13:17:03 -08:00
Frank e8565d27f7 Better print 2016-01-27 11:50:32 -08:00
Frank Dellaert 4d93a33f61 Static methods should be uppercase. 2016-01-26 23:09:58 -08:00
Frank Dellaert 15dfd932f1 Tying up loose ends, ostream, get rid of cov_ 2016-01-26 21:35:32 -08:00
Frank Dellaert 3a891b2a2c ostream operator 2016-01-26 20:42:48 -08:00
Frank 5b430da316 Simpler calculation of acceleration 2016-01-26 16:47:45 -08:00
Frank cf07c22c2c Showing trajectory and ground truth quantities 2016-01-26 15:46:36 -08:00
Frank 6d5ca7e546 make bias scenarios work 2016-01-26 12:14:35 -08:00
Frank 00186d9763 renamed file 2016-01-26 11:45:10 -08:00
Frank ef350af957 Merged AggregateReadings into PreintegrationBase 2016-01-25 18:11:07 -08:00
Frank f355437f51 Moved params to separate class 2016-01-25 14:18:35 -08:00
Frank 91482a7e2b Inner class 2016-01-25 13:33:17 -08:00
Frank 2542d20367 Reverted back to functional 2016-01-25 12:15:29 -08:00
Frank Dellaert e64fc532e3 Removed debug code 2016-01-18 00:24:17 -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 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 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 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
Jing Dong c3edee1e2d fixed imu factor serialization, add unit test 2016-01-13 21:33:41 -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 b3ffc6d824 Added missing Jacobians 2015-12-30 00:15:02 -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 daa9bd5b2a Removed debug code 2015-12-28 17:20:21 -08:00
Frank Dellaert 9eed146612 Fixed two bugs 2015-12-28 17:19:33 -08:00
Frank Dellaert 52397bb4a4 Several more tests with different initial conditions 2015-12-28 17:19:15 -08:00
Frank Dellaert e52cbf74a6 Prediction now exact with second-order position update, except in last scenario 2015-12-28 15:28:12 -08:00
Frank Dellaert d3d3b8399d Correct for gravity and V0 2015-12-28 13:17:41 -08:00
Frank Dellaert 06b1f381ea Added position and velocity updates 2015-12-28 12:34:11 -08:00
Frank Dellaert 9e99f88473 Prediction works ! 2015-12-28 10:00:53 -08:00
Frank Dellaert 68b6d31494 Developed linear factor graph algorithm 2015-12-28 09:40:05 -08:00
Frank Dellaert 874d492318 Spin 2015-12-28 09:37:00 -08:00
Frank Dellaert d0b020b6e8 Skeleton compiles/links 2015-12-28 07:11:45 -08:00
Frank Dellaert 7834ac08df Now using Params 2015-12-27 18:56:13 -08:00
Frank Dellaert 05df0ca0cc compiler directives 2015-12-27 18:41:50 -08:00
Frank 2578a7098f Large refactor with defaultParams and ScenarioRunners - MC tests commented out for now. 2015-12-24 16:02:04 -08:00
Frank 2f17c7d54f comment out failing test (on Ubuntu) 2015-12-24 16:01:36 -08:00
Frank b9281b9ea6 Allow different convention 2015-12-24 16:01:21 -08:00
Frank f37fe2613b Merge remote-tracking branch 'origin/feature/scenarios' into feature/ImuFactorPush2 
Conflicts:
	gtsam/navigation/PreintegrationBase.h
	gtsam/navigation/tests/testImuFactor.cpp
 2015-12-24 14:36:35 -08:00
Frank 8e1041c56a Merge remote-tracking branch 'bitbucket/RSS_ImuFactor' into feature/scenarios 2015-12-23 16:18:59 -08:00
Frank 1245e899d6 Allow for bias 2015-12-23 16:14:59 -08:00
Frank Dellaert 5869b8cb65 Merge remote-tracking branch 'origin/RSS_ImuFactor' into feature/scenarios 2015-12-23 15:05:14 -08:00
Frank Dellaert f79a9b8d3a Make two acceleration scenarios 2015-12-23 15:04:36 -08:00
Frank Dellaert 31335608a8 Acceleration now specified in nav frame, allow angular velocity 2015-12-23 14:29:42 -08:00
Frank Dellaert 25db851a0b Getting rid of old MonteCarlo - in progress 2015-12-23 13:44:07 -08:00
Frank Dellaert e7f3f1cd29 Derivative tested again 2015-12-23 12:51:28 -08:00
Frank Dellaert bf82b58782 Merge branch 'RSS_ImuFactor' into feature/scenarios 2015-12-23 12:48:17 -08:00
Frank Dellaert 9eb7e38cb8 measured quantities 2015-12-23 12:48:07 -08:00
Frank Dellaert 630c2a7a18 Now uses Runner 2015-12-23 12:34:30 -08:00
Frank Dellaert b7701f0cf6 Merge remote-tracking branch 'origin/RSS_ImuFactor' into feature/scenarios 2015-12-23 12:19:44 -08:00
Frank Dellaert 26ae74e1fb Split off cpp file 2015-12-23 12:19:15 -08:00
Frank Dellaert d74e00ab2a compilation issue 2015-12-23 12:12:43 -08:00
Frank Dellaert 9ecb6ed5f3 Now using ScenarioRunner 2015-12-23 12:12:12 -08:00