90ea83aa38
printing covariance
2015-08-10 19:30:25 -04:00
7bb819437f
added comments
2015-08-10 19:29:55 -04:00
7fc1befdca
Two different random seeds for better Monte-Carlo
2015-08-09 11:43:26 -07:00
a3032fe367
Params::print, and comments
2015-08-09 11:23:34 -07:00
887c0d8f59
Added .cpp file and a print for parameters
2015-08-09 11:23:12 -07:00
9af69254b2
Refactored arm correction but there is still a difference in regression values. Did I introduce a bug?
2015-08-04 08:31:47 -07:00
3ae998d31d
Renamed to make frame clear
2015-08-04 07:32:10 -07:00
18d0966630
more Monte Carlo
2015-08-01 17:21:34 -07:00
b8f05e1e35
More tests
2015-08-01 17:21:15 -07:00
f8df938b30
New naming, old derivative code
2015-08-01 17:17:23 -07:00
7224162e60
More Monte Carlo...
2015-07-31 21:04:16 -07:00
b26bfb27ac
Removed F/G tests: derivatives no longer matched and are checked at a lower level anyways.
2015-07-31 15:42:22 -07:00
7901077a7a
refactoring F and G
2015-07-31 15:32:16 -07:00
8aca431913
const update method
2015-07-31 15:31:45 -07:00
325ede23fe
BIG: switch to NavState delta pose
2015-07-31 15:08:12 -07:00
e3d36da188
Switched argument order
2015-07-31 13:33:23 -07:00
628a4cc4cc
Removed inheritance from PreintegratedRotation
2015-07-31 11:43:53 -07:00
dd468ab495
Inlined rotation part
2015-07-31 11:31:01 -07:00
c40ffa0174
Some more documentation
2015-07-31 06:37:39 -07:00
3cdf8973d4
Monte Carlo analysis
2015-07-30 22:50:06 -07:00
91eeede05a
Better documentation, and conditional evaluation of derivatives
2015-07-30 21:55:40 -07:00
2ad50ab86e
More efficient derivatives
2015-07-30 09:48:00 -07:00
cefc441fba
bodyVelocity and working update derivatives
2015-07-30 09:39:25 -07:00
13f8935c52
update prototype
2015-07-30 08:05:39 -07:00
9c35c931f6
Modernized test
2015-07-29 21:53:18 -07:00
7149b8ee42
Avoid duplicate calculation of D_acc_R
2015-07-29 21:21:03 -07:00
e5ace26d5f
Split method in const and non-const part
2015-07-29 21:04:11 -07:00
d0467c53dd
Use PreintegratedRotation::integrateMeasurement
2015-07-29 20:40:19 -07:00
aebe8161dd
Strengthened AHRS tests
2015-07-29 16:14:42 -07:00
0b4919e099
Refactoring of integrateMeasurement to reduce copy/paste
2015-07-29 15:49:03 -07:00
75cc3020eb
Fixed all but sensor_pose error
2015-07-29 12:01:22 -07:00
2a9e1db4cb
Merge branch 'feature/cleanup_ImuFactor' into noiseModelMixup
2015-07-29 11:54:16 -07:00
9d1111a767
Derivative accuracy
2015-07-29 11:53:24 -07:00
999a19a57d
More tests on localCoordinates
2015-07-29 11:52:46 -07:00
5ca67d0a3a
FromPoseVelocity
2015-07-29 11:20:35 -07:00
5b9bf9affa
Fix the noise covariances to conform to new error order...
2015-07-29 15:43:42 +02:00
8992cf7832
Merge branch 'regression_test' into feature/cleanup_ImuFactor
...
Conflicts:
gtsam/navigation/tests/testImuFactor.cpp
2015-07-27 19:05:55 +02:00
2007391987
Better test, with 2nd order integration
2015-07-27 18:35:56 +02:00
b1ec4d5876
Merge branch 'regression_test' into feature/cleanup_ImuFactor
...
Conflicts:
gtsam/navigation/tests/testImuFactor.cpp
2015-07-27 16:17:05 +02:00
11d0ad0d78
Covariance regression values
2015-07-27 16:12:41 +02:00
1ac790da1c
Some minor refactoring/renaming
2015-07-27 16:00:06 +02:00
a02a167da4
Made new bias tests by Krunal compile. reinstated backwards compatible method.
2015-07-26 20:51:51 +02:00
d5d8000926
Merge branch 'fix/imuFactor_BodyPSensor' into feature/cleanup_ImuFactor
...
Conflicts:
gtsam/navigation/CombinedImuFactor.cpp
gtsam/navigation/ImuFactor.cpp
gtsam/navigation/PreintegrationBase.cpp
gtsam/navigation/PreintegrationBase.h
gtsam/navigation/tests/testImuFactor.cpp
2015-07-26 20:50:56 +02:00
654cb4d31a
Re-factored conversion from sensor to body
2015-07-26 07:55:43 +02:00
18ff25b67f
Cleaned up test while reading it
2015-07-25 17:34:16 +02:00
0310eb4e7b
Fixed compilation errors
2015-07-25 10:02:38 +02:00
7407b605b9
Merge remote-tracking branch 'origin/develop' into fix/imuFactor_BodyPSensor
...
Conflicts:
gtsam/navigation/CombinedImuFactor.cpp
gtsam/navigation/ImuFactor.cpp
gtsam/navigation/PreintegrationBase.h
gtsam/navigation/tests/testImuFactor.cpp
2015-07-25 10:02:20 +02:00
670781231c
Fixed derivative of biasCorrectedDelta
2015-07-24 17:40:35 +02:00
7ebcb4c18f
Replaced large complicated original function with just a call to localCoordinates.
2015-07-24 16:45:55 +02:00
7a78d54fc3
derivatives for Local and localCoordinates
2015-07-24 14:43:06 +02:00
9bcdf972f8
Asserting that computeError is just localCoordinates
2015-07-24 14:17:46 +02:00
77d8e7d0bd
All tests pass now !
2015-07-24 13:39:50 +02:00
323ed5220b
Gravity should be specified in NAV coordinates! Default Nav frame is assumed to be *Z down* for the old-style constructors.
2015-07-24 13:22:32 +02:00
c6b68e6795
No more second-order integration flag
2015-07-23 17:08:19 +02:00
de76314488
Straight line example, including finding defect in using first-order approximation
2015-07-23 14:21:29 +02:00
85085e882d
Removed Lie tests (now in testNavState)
2015-07-22 22:24:53 +02:00
a99911b997
Now uses NavState::predict !
2015-07-22 22:24:19 +02:00
7ccfb95339
Favor fields not methods
2015-07-22 22:23:14 +02:00
9b3c051ca1
Fied argument types
2015-07-22 22:22:31 +02:00
a098289861
Moved fields to protected
2015-07-22 22:22:05 +02:00
8ae4e2afd9
A fully functioning predict from preintegrated tangent vector
2015-07-22 17:46:03 +02:00
2a38ed9603
Additive version for coriolis forces
2015-07-22 01:01:19 -04:00
eb42a57860
Merge branch 'regression_test' into feature/NavState_new_retract
...
Conflicts:
gtsam/navigation/tests/testImuFactor.cpp
2015-07-22 00:42:06 -04:00
0ced228413
Regression test for predict with arbitrary measurements
2015-07-22 00:36:32 -04:00
a9b4cdbe47
coriolis now lives in NavState
2015-07-22 00:19:08 -04:00
4c177c0ce2
unrotate now defined for vector
2015-07-21 18:28:31 -04:00
4dbe5e68d2
Component access derivatives
2015-07-21 18:28:02 -04:00
2dd7987478
Working AdjointMap and hence also derived derivatives of retract/localCoordinates
2015-07-21 16:25:58 -04:00
2dbad989d1
Working Logmap !
2015-07-21 16:09:56 -04:00
c7bc497014
Working Expmap
2015-07-21 11:36:28 -07:00
4c8c669d71
Moved NavState to its own header and totally revamped as a semi-direct product
2015-07-21 11:23:24 -07:00
8a8503ee33
New retract. Still some bug in derivative
2015-07-20 21:40:58 -07:00
814c170caa
Added reference, made documentation consistent
2015-07-20 20:57:47 -07:00
6496bd49ed
Separate and much simplified computeError works
2015-07-20 09:16:57 -07:00
1ce6ab893d
predict derivative works !
2015-07-20 00:58:41 -07:00
3a941a0ef4
NavState retract derivatives
2015-07-20 00:55:34 -07:00
2df20b4f37
Second order coriolis done
2015-07-19 23:58:06 -07:00
5f6d3a600f
First order coriolis derivatives
2015-07-19 23:40:20 -07:00
ee747604e7
No more MakeParams
2015-07-19 23:39:19 -07:00
76abf553b0
biasCorrectedDelta and test of its derivatives
2015-07-19 21:24:38 -07:00
1229ca6fee
OptionalJacobians
2015-07-19 21:24:17 -07:00
13cca7be00
MakeParams
2015-07-19 21:23:16 -07:00
d4d99c390d
A custom retract does the trick
2015-07-19 03:31:11 -07:00
f32a7cbd00
Parsed out tangent space operations
2015-07-19 02:54:28 -07:00
9382641445
Use constants, slight renaming
2015-07-19 01:52:53 -07:00
7b02a01a44
Simplified deprecated methods
2015-07-19 01:52:23 -07:00
042d874f08
Introduce and use NavState for predict
2015-07-19 01:52:08 -07:00
3c59168406
Inlined Logmap and derivatives, removed from PreintegratedRotation
2015-07-19 00:54:25 -07:00
814b8c22bf
Moved a derivative down
2015-07-19 00:40:42 -07:00
c72a8344ec
Added derivatives where they should be...
2015-07-19 00:40:07 -07:00
0df1e345a3
Complete refactor with a shared parameter to fixed parameters. Tests still use old-style and all pass, because of hacky backwards compatible functions.
2015-07-18 18:30:42 -07:00
55269d642c
Fixed order of components in error to match RTV order
2015-07-17 15:34:58 -07:00
61c58c6fa6
Fixed naming convention
2015-07-17 15:33:20 -07:00
fd0ad8ae78
Removed some useles computation
2015-07-17 15:32:58 -07:00
52baa97eca
Some fixed-size matrix optimizations
2015-07-17 12:00:03 -07:00
2d425ad7be
More substantial jacobian refactor
2015-07-17 01:27:07 -07:00
66a9c34840
Clean up jacobians a bit
2015-07-17 01:14:44 -07:00
d45d2e17ed
inline transpose
2015-07-17 01:07:15 -07:00
8ff4c98337
Rationalize predict
2015-07-17 00:52:47 -07:00
e7c2e81831
Re-formatted to BORG-style
2015-07-15 23:24:24 -07:00
8d4e54bc20
Merge remote-tracking branch 'origin/develop' into feature/cleanup_ImuFactor
...
Conflicts:
gtsam/nonlinear/expressionTesting.h
gtsam/nonlinear/factorTesting.h
2015-07-15 23:20:14 -07:00
4015fba225
Fix system-installed GeographicLib detection and run tests.
2015-05-24 19:15:37 -04:00
b01eb4e960
Added a test for PoseVelocityBias
2015-05-23 17:49:52 -07:00
69c0d68891
Removed a lot of copy paste, use factorTesting macro
2015-05-23 17:30:36 -07:00
a261587d4b
Minor cleanup, moved reset method closer to constructor
2015-05-23 17:28:39 -07:00
28d48aae09
Fix for boost 1.58
2015-05-20 21:45:09 -04:00
13a4da21b2
misc bugfixes and cleanup from skydio
2015-05-13 22:26:24 -07:00
eb8d1a91a6
Merged in fix/ImuFactorInefficiencies (pull request #133 )
...
Small optimization improvements in PreintegrationBase.h. Fixes Issue#227
2015-05-11 12:31:42 -07:00
1bcb150212
Merge branch 'develop' into fix/serialization_warnings
...
Conflicts:
gtsam/navigation/CombinedImuFactor.h
gtsam/navigation/ImuBias.h
gtsam/navigation/ImuFactor.h
2015-04-09 12:56:58 +02:00
fbb9fb679e
Added small optimization improvements
2015-04-01 05:05:48 -04:00
9ae797a88c
Minor formatting changes.
2015-03-10 22:42:20 -04:00
3d1b24ea01
Autoformatted code with Borg formatting.
2015-03-10 22:20:51 -04:00
91a4db655c
Merge remote-tracking branch 'origin/develop' into fix/imubias_minus_operator
2015-03-10 18:18:28 -04:00
3750362b49
Test fails with incorrect imuBias operator-.
2015-03-10 18:16:45 -04:00
2edd7451af
No uses subtract - verified this failed in develop but works in ths branch. Krunal will do the same for CombinedIMUFactor.
2015-03-10 11:18:09 -07:00
4f1eb63b02
Fixed naming in non-static data member.
2015-03-08 23:52:47 -04:00
ab21ee9507
Made api backwards compatible.
2015-03-08 22:07:14 -04:00
736fce27db
Test not needed for the purposes of the P.R
2015-03-08 15:35:01 -04:00
5d739ea904
Earlier refactor did not work correctly
2015-03-08 15:33:43 -04:00
6861b8dd01
reverted to previous gravity name
2015-03-08 15:31:02 -04:00
a814534c92
Made ImuFactor Predict function static, which calls PreintegrationBase non-static member. Fixed to upper case Predict.
2015-03-08 15:23:20 -04:00
9a469ad25f
Added function predict in ImuFactor and CombinedImuFactor.
2015-03-07 17:47:59 -05:00
0f23958c62
Fix some more warnings.
2015-03-06 16:44:08 +01:00
ebf5746987
Fix some serialization warnings.
2015-03-06 16:12:09 +01:00
2f27aa2d16
Added various unit tests for the class ImuBias.
2015-03-05 11:44:08 -05:00
447ebd1233
fixed bug in operator - for ImuBias
2015-03-03 16:53:15 +01:00
0fafffb02e
Made functional correctMeasurementsByBiasAndSensorPose
2015-03-02 17:04:19 -05:00
04cf6686b4
Better noise values, little cleanup
2015-03-02 16:55:58 -05:00
77f69146f6
Unit test that fails! Bias estimated is opposite in direction for test bodyPSensorWithBias!
...
Not equal:
expected:
.biasAcc [0 0 0]
expected:
.biasGyro [ 0 0.01 0]
actual:
.biasAcc [-0.00012 3.6e-16 0.00015]
actual:
.biasGyro [-3.7e-18 -0.01 -3.6e-18]
2015-03-02 15:14:05 -05:00
b23de64ce0
* Print symbol interpretation of key in IndeterminantLinearSystemException.
...
* Add fPIC to libmetis.
* Fix warnings in PreintegratedBase.
2015-02-16 09:59:18 +01:00
a5737fc8fb
Merged in feature/IMUenhanced (pull request #92 )
...
added missing Jacobian when 2ndOrderIntegration = true
2015-02-10 16:37:05 +01:00
5554c7af9b
Add GTSAM_EXPORT for Windows build
2015-02-07 23:35:01 -05:00
8de7e2e0d2
deleted useless multiplication by identity
2015-01-17 18:04:43 -05:00
bc379cc6b9
improved tests, and included correct jacobian when use2ndOrderIntegrationFlag is true
2015-01-11 16:04:03 -05:00
eb5d619729
Added deprecated methods back in for MATLAB toolbox
2014-12-26 20:58:23 +01:00
a59ace5879
Updated derivatives
2014-12-26 20:55:27 +01:00
4610019d89
Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits
...
Conflicts:
gtsam/navigation/AHRSFactor.cpp
gtsam/navigation/CombinedImuFactor.cpp
gtsam/navigation/ImuFactor.cpp
gtsam/navigation/tests/testAHRSFactor.cpp
2014-12-26 19:29:49 +01:00
0a754f6b5f
Fixed compile problem
2014-12-26 18:23:30 +01:00
a881e8d3ee
Cherry-picked imuFixed differences
2014-12-26 18:23:14 +01:00
e5017984a1
traits_x -> traits
2014-12-26 16:47:51 +01:00
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
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
2ffa9dc6d2
Renamed old Rot3 methods
2014-12-24 11:36:06 +01:00
55fe170d4f
ImuBias loses its mojo (superfluous Lie/Manifold stuff)
2014-12-22 17:26:44 +01:00
355b938f3a
Point3 loses its mojo (superfluous Lie/Manifold stuff)
2014-12-22 17:22:45 +01:00
749eeaebf8
fixed testAHRSFactor
2014-12-22 13:56:19 +01:00
06c3696176
Fixed more problems so everything compiles now after splitting up concepts into Group/Manifold/Lie/VectorSpace. Still 25 tests that fail.
2014-12-22 02:52:31 +01:00
79d8514528
MASSIVE edit: made Testable its own concept, and moderinized Testable.h to use Testable traits. This required adding Testable traits in many classes.
2014-12-21 22:02:57 +01:00
00b374c9e9
Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits
...
Conflicts:
gtsam/base/LieScalar.h
gtsam/geometry/Point2.h
2014-12-21 14:39:23 +01:00
6e5dbcf2a3
flushing out more compilation errors in tests
2014-12-20 11:54:08 +01:00
37fc86b595
More slow progress. Added a variable-size specialization for OptionalJacobian
2014-12-16 12:30:11 +01:00
679c3fbd07
Even more slow progress
2014-12-14 14:02:27 +01:00
7144754439
split CombinedImuFactor in .h and .cpp, improved documentation
2014-12-02 16:41:35 -05:00
c0a043019c
added comments and minor fixes
2014-12-02 16:41:00 -05:00
32f0bdb288
removed useless parameters, included "using namespace std", deleted arguments in setZero() for fixed size matrix
2014-12-02 15:56:53 -05:00
78f19d1aa3
removed useless parameter, removed useless includes, fixed typos
2014-12-02 15:55:47 -05:00
3ba04fba6b
formatting changes
2014-12-02 15:12:51 -05:00
57f2e77122
added Rot3() in constructor
2014-12-02 15:12:44 -05:00
b818a548c5
split ImuFactor in .h and .cpp
2014-12-02 14:59:21 -05:00
b6c375db0d
deleted comment and added TODO
2014-12-02 11:48:07 -05:00
667673e9a9
Fixed size matrix
2014-11-28 12:41:20 +01:00
a12be48af0
Now use Matrix.h constants
2014-11-28 12:32:06 +01:00
8065a09dc1
Changed implementation to used fixed-size matrices to max extent possible.
2014-11-28 11:16:04 +01:00
c570f53e57
Merged in feature/BAD_using_charts (pull request #41 )
...
Working on a prototype of wrapping external types
2014-11-24 19:01:58 +01:00
15bcb70260
Merge remote-tracking branch 'origin/develop' into feature/AHRS_Polish
...
Conflicts:
gtsam/navigation/tests/testAHRSFactor.cpp
2014-11-24 17:35:14 +01:00
7c5dd8420e
Merge remote-tracking branch 'origin/feature/AHRS_Vector3bias' into feature/AHRS_Polish
2014-11-24 17:26:57 +01:00
59536e4ff4
Fixing the mag factor tests
2014-11-24 08:00:36 +01:00
a8f942f19d
Fixing the mag factor tests
2014-11-24 07:57:47 +01:00
3a5457ccdd
fixed typo
2014-11-23 22:23:52 -05:00
5246ce32d3
Merged in feature/stock_eigen_commainitializer (pull request #44 )
...
Revert Eigen to stock comma initializers
2014-11-23 18:41:55 -05:00
9244a4ee7e
Windows fix - Rename test, conflicted with IMU factor
2014-11-23 15:36:17 -05:00
f9ca07e610
Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax
2014-11-23 10:22:25 -08:00
db53c1b714
Major refactor from imuBias -> Vector3 bias. Might not be desirable.
2014-11-23 14:24:07 +01:00
36bc1d3e3f
Small savings of matrix-vector mult
2014-11-23 13:57:27 +01:00
490520d6d0
Moved derivative calculation inside predict: needs to be unit tested
2014-11-23 13:47:52 +01:00
369a5a24a4
Defined two methods to avoid copy/paste and excessive friend privileges
2014-11-23 13:20:23 +01:00
665eaa6340
Some cleanup, small savings
2014-11-23 12:54:57 +01:00
1ad662e35b
Renamed static: interestingly, does not seem to be used anywhere...
2014-11-23 12:39:23 +01:00
b2cb1aa625
Removed unused snippet
2014-11-23 12:38:14 +01:00
c0c917620a
Fixed dividers
2014-11-23 12:03:21 +01:00
b18fa08d2a
Formatting only
2014-11-23 11:57:10 +01:00
e9df6198ff
Moved AHRSFactor methods to cpp
2014-11-23 11:51:54 +01:00
bde567fd82
Fix unused warnings
2014-11-23 11:51:32 +01:00
f8b7f204fe
Header discipline
2014-11-23 11:38:34 +01:00
5ab5e008ba
Doxygen docs and naming convention PreintMeasCov_ -> preintMeasCov_
2014-11-23 11:36:05 +01:00
02ed59b65d
Fixed-size
2014-11-23 11:35:35 +01:00
5ec6039988
Small refactor, save on transpose and copy
2014-11-23 11:24:43 +01:00
7683917558
Moved inner class to cpp file, and use fixed-size matrices now for faster math.
2014-11-23 11:17:45 +01:00
aa093a35da
Updated all comma initializer usages to use .finished()
2014-11-22 16:35:27 -08:00
056aed4419
Merge remote-tracking branch 'origin/develop' into feature/AHRSFactor
...
Conflicts:
gtsam/navigation/tests/testMagFactor.cpp
2014-11-22 17:25:31 -05:00
db3126cd14
Fixed evaluateError signature (double -> const double&)
2014-11-22 22:31:28 +01:00
9230f4269b
Changed return from Rot3 back to Matrix. Added imuBias in gtsam.h
2014-11-21 21:57:18 -05:00
cef280d7c4
Working unit test for Predict
2014-11-21 20:56:43 -05:00
1ab1323a33
Added unit tests for Predict
2014-11-21 20:15:42 -05:00
1bc9f3ac06
Added unit tests
2014-11-21 19:39:46 -05:00
ce5f7911c5
Changed access specifier of preintegrated measurement variables to protected.
2014-11-21 16:12:33 -05:00
b6ab7a4dfa
add PoseVelocityBias struct to be returned by Predict function
2014-11-19 13:15:57 -05:00
4ee5674b2e
fix numericalDerivative11 template
2014-11-19 13:15:12 -05:00
e800ee3400
change LieScalar to double
2014-11-19 13:14:49 -05:00
06aa425536
remove unused variable
2014-11-19 13:12:10 -05:00
2da3a1ab21
use "const double&" in evaluateError
2014-11-19 13:11:47 -05:00
881ecebfc9
Merge remote-tracking branch 'origin/develop' into feature/AHRSFactor
...
Conflicts:
gtsam.h
gtsam/navigation/CombinedImuFactor.h
gtsam/navigation/ImuFactor.h
2014-11-19 13:10:33 -05:00
e2aef1b325
Merge remote-tracking branch 'origin/develop' into feature/BAD
2014-11-14 01:31:49 +01:00
3ba997014d
fixed the naming convention
2014-11-13 13:46:00 -05:00
9afee71399
Merge remote-tracking branch 'origin/develop' into feature/AHRSFactor
2014-11-13 12:52:15 -05:00
c6c611ae11
added comments to imu preintegration
2014-11-12 19:06:16 -05:00
8559fa9759
Fixed comments
2014-11-12 16:40:37 -05:00
a94835a2e4
Merge remote-tracking branch 'origin/develop' into feature/BAD
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Conflicts:
.cproject
gtsam/geometry/Cal3DS2.cpp
gtsam/geometry/Cal3DS2.h
gtsam/geometry/Cal3Unified.h
gtsam/navigation/CombinedImuFactor.h
gtsam/navigation/ImuFactor.h
gtsam/nonlinear/NonlinearFactor.h
gtsam/slam/tests/testPoseRotationPrior.cpp
Modified: testGaussMarkov1stOrderFactor.cpp, testPoseRotationPrior.cpp
2014-11-04 17:04:57 +01:00
da3677e704
No more LieVector/LieScalar
2014-11-03 13:52:08 +01:00
b5327673fb
Get rid of LieVector
2014-11-03 11:02:15 +01:00
492c607f9e
No more Lie types
2014-11-03 09:27:40 +01:00
699153ece9
Coding convention: convert tabs to two spaces
2014-10-30 12:44:46 -04:00
2788ec7f33
removed std::type_traits which is c++11
2014-10-29 10:23:13 +01:00
1fadda83e0
removed DerivedValue<> inheritence from classes
2014-10-24 18:34:06 +02:00
a29f09423c
Merge branch 'develop' into feature/BAD
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Conflicts:
gtsam/linear/tests/testGaussianBayesNet.cpp
2014-10-22 13:56:27 +02:00
113b9d2e74
Got rid of unnecessary LieVector usage that broke fixed-code
2014-10-22 01:32:59 +02:00
1eb5e185e5
New numericalDerivatives with traits an Charts - still some segfaults, *and* there should be no need for (a) multiple prototypes to match against c++ pointers, (b) the use of explicit template arguments. A task for someone...
2014-10-21 18:50:52 +02:00
fcbc1e90cf
More traits
2014-10-21 18:03:28 +02:00
cf4374563b
Fixed Dynamics Factor and added debug cout statements to help fix indeterminent linear system exception
2014-10-14 18:08:26 -04:00
84987aa351
Deal with Rot3 changes
2014-10-07 19:35:20 +02:00
0d05a1c206
Some doxygen documentation
2014-09-26 17:41:43 +02:00
1548c8e34e
added comments and fixed warning
2014-07-25 14:13:27 -04:00
bc2e9959fa
Added matlab wrapper for Rot3AttitudeFactor.
...
Added a couple of functions to access data from the class in Matlab
2014-07-18 16:46:58 -04:00
4d50156ff1
Actually accelerometer and gravity has no place in the AHRS factor. Basically this factor integrates rotations based on gyroscope data.
...
Removed all of acc and gravity things.
2014-07-14 23:40:30 -04:00
73ec571f4b
Added another test, fixed a bug in the factor w.r.t initializing measurement covariance.
2014-07-14 23:14:02 -04:00
b721a7ce1f
Added tests in testAHRSFactor and corrected AHRSFactor so that it works.
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added target in .cproject.
Note that not all tests work. In particular the IMUbias jacobian fails because the dimensions of expected and actual are different.
2014-07-12 23:45:46 -04:00
f3882cd0d7
Created AHRS factor based on Luca's IMU factor. Has not been tested yet.
2014-07-03 17:04:07 -04:00
946cc5338a
Merge branch 'develop' into feature/timing_scripts_build
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Conflicts:
gtsam_unstable/CMakeLists.txt
2014-06-21 08:55:49 -07:00
a34dff1397
Merge remote-tracking branch 'origin/feature/new_imu_factors' into develop
2014-06-20 13:32:34 -04:00
fe235b1209
Building timing scripts using new timing script support in GtsamTesting.cmake. Fixed compile errors in timing scripts but disabled a couple.
2014-06-07 19:02:11 -07:00
07772b011a
fix formatting
2014-06-01 13:04:47 -04:00
c56b56a178
bizarre fix for issue 101
2014-06-01 13:00:11 -04:00
386ed2e510
Merge branch 'develop'
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Conflicts:
gtsam_unstable/slam/SmartFactorBase.h
2014-05-28 18:11:39 -04:00
0f03cd736c
added comments
2014-05-08 11:08:43 -04:00
5c420f1aec
added references
2014-05-04 18:16:40 -04:00
2daeae2438
GeographicLib now works on Windows
2014-05-03 17:26:07 -04:00
4ad4f9d68e
removed unnecessary parameter from constructor
2014-04-29 15:13:28 -04:00
9dbabbc847
Another Windows fix. Everything now builds, as long as METIS and GeographicLIB are off.
2014-04-18 10:36:33 -04:00
d3333c1c85
Fix errors on Windows with VS 2010
2014-04-17 22:07:55 -04:00
93458eaeff
Added flag for second order coriolis terms (default is false)
2014-04-03 16:52:04 -04:00
2843266496
update to IMU factors (included flag to include 2nd order terms in integration)
2014-03-25 16:31:51 -04:00
6f692b1547
Merge branch 'develop'
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Conflicts:
gtsam/base/SymmetricBlockMatrix.cpp
gtsam/linear/JacobianFactor-inl.h
gtsam_unstable/geometry/tests/testTriangulation.cpp
2014-03-12 12:57:59 -04:00
42d5399b44
Added a flag for installing GeographicLib, and logic for using the built-in or installed GeographicLib, and disabling relevant unit tests in case GeographicLib is unavailable.
2014-02-25 15:46:25 -05:00
6962072301
moved Jacobians on SO3 to Rot3
2014-02-24 14:00:14 -05:00
4c5cb4d8ec
Removed some unused code that was causing warnings
2014-02-23 18:51:48 -05:00
6a0f2e9b88
Merge branch 'origin/release/2.4.0'
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Conflicts:
.cproject
gtsam/geometry/Rot3.cpp
gtsam/geometry/Unit3.cpp
gtsam/geometry/Unit3.h
gtsam/geometry/tests/testEssentialMatrix.cpp
gtsam/geometry/tests/testSphere2.cpp
gtsam/navigation/CMakeLists.txt
2014-02-23 15:52:28 -05:00
926c27c732
Rename Sphere2 -> Unit3
2014-02-22 16:20:28 -05:00
e471df6a32
ignore temp files
2014-02-13 14:57:33 -05:00
661a157553
Working on standardizing/simplifying building unit tests and examples. Much simpler cmake function to add a glob of tests, doing away with convenience libraries, and removing other options that we never change from their defaults.
2014-02-13 01:34:31 -05:00
1d5da1c35e
Changed to Point3, which makes much more sense
2014-02-02 22:43:00 -05:00
Luca
dellaert
Frank Dellaert
cbeall3
Abe
Thomas Schneider
krunalchande
Mike Bosse
Paul Furgale
Richard Roberts
gawela
djensen3