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
...
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
...
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.
...
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
...
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'
...
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'
...
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'
...
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
44e323070a
added Vadim
2014-02-01 20:20:54 -05:00
7169c127fa
Created common base class
2014-02-01 19:05:23 -05:00
d0ee9c662d
Switched to Rot3 and added Pose3 version
2014-02-01 17:44:58 -05:00
cfe5a3663e
LieScalar does not make sense here: scale is known -> double
2014-02-01 14:03:16 -05:00
a48c72ff63
Fixed sign of 2D version
2014-02-01 10:33:17 -05:00
5369a7bd17
Simplify by storing s*dir
2014-02-01 10:29:03 -05:00
6d16ebf68d
Moved from Vector3/LieVector to Point3. I have mixed feelings about this. Wondering (again) whether Point3 ought to *be* a Vector3 after all.
2014-02-01 09:31:22 -05:00
b3a0802c93
Removed typename in shared_ptr declaration.
2014-02-01 09:28:04 -05:00
d555c017d6
Fixed comments
2014-02-01 09:00:36 -05:00
419de466c0
Moved to header
2014-02-01 00:51:52 -05:00
f6731fe559
More efficient derivative
2014-02-01 00:50:03 -05:00
f6a733fb3e
Prototype MagFactor
2014-02-01 00:37:03 -05:00
4b8c17ec77
Changed target name to 'gtsam' instead of 'gtsam-shared' and 'gtsam-static'. Modified CMake options to only allow building either static or shared, but not both. Enabled GTSAM_BUILD_TYPE_POSTFIXES by default on all platforms.
2014-01-30 14:41:25 -05:00
fd6eb2b129
Added MagFactor that solves for rotation, now called 1,2,3, with respectively 1,2,3 arguments to factor.
2014-01-30 00:58:15 -05:00
2a637e77a7
gtsam namespace
2014-01-29 21:25:33 -05:00
46c266f8e5
Header file
2014-01-29 21:22:00 -05:00
2775bb9381
MagFactor scaffold
2014-01-29 21:16:43 -05:00
326876fe9d
Fixed dimension of noise model; caught by @atrevor
2014-01-29 16:50:16 -05:00
8fbab3bde8
Changed API slightly and made very clear what is measurement (typically in nav frame) and what is reference direction (typically in body frame)
2014-01-29 13:34:52 -05:00
344ef7801e
New AttitudeFactor is useful for aiding with an accelerometer
2014-01-28 19:43:44 -05:00
ff83094b5c
EXPECT not CHECK
2014-01-28 19:43:19 -05:00
40f1858fd8
Fixed some things in GPSFactor
2014-01-28 16:24:59 -05:00
6bda38583f
EstimateState
...
Also, some more comments, and cpp file
2014-01-28 15:46:18 -05:00
fe55148dd7
deleted redundant files for imu factors
2014-01-27 17:38:01 -05:00
16071f5360
Fixed Jacobians
2014-01-25 21:20:18 -05:00
f924c21c19
Added test for Jacobian
2014-01-25 21:11:37 -05:00
c06ecb4f49
Merge branch 'origin/release/2.4.0'
2014-01-25 20:51:00 -05:00
60f0c4e51f
Tested local ENU coordinates
2014-01-25 20:32:22 -05:00
94e045e864
Convert to UTM
2014-01-25 19:45:10 -05:00
32455c3817
Geocentric coordinates test
2014-01-25 19:28:55 -05:00
088d85d8ba
Now links properly
2014-01-25 19:28:37 -05:00
73b3748bc6
enu coordinates
2014-01-25 18:57:10 -05:00
bcb13ec4e6
Expected result
2014-01-25 18:28:45 -05:00
ee018ecbee
Added unit test scaffold, but no idea how to link
2014-01-25 18:22:23 -05:00
8e96f6a0d4
Checked in proposed change to *any* cartesian frame
2014-01-24 16:18:08 -05:00
3476264e21
Added test scaffold and prototype
2014-01-24 16:06:48 -05:00
96296333ae
remove all LieVector(size_t m, ...), which doesn't check parameter's type and it's also dangerous
2014-01-23 18:35:29 -05:00
90786c0203
fix Vector_() in rest of gtsam folder
2014-01-23 01:44:55 -05:00
0dc1eac55c
Merged changes from the trunk back into navigation and slam. Needed some data files for tests, as well.
...
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/branches/2.4@20423 898a188c-9671-0410-8e00-e3fd810bbb7f
2013-12-21 18:34:23 -05:00
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
dd3a98464a
Fix Vector_() to Vec() in gtsam/navigation
2013-10-21 05:15:48 +00:00
e799c9ffa9
tabs converted to two spaces
2013-10-10 17:52:57 +00:00
c04ceed07b
Commented out print statements in unit test
2013-08-19 21:04:36 +00:00
c6cf4d2dab
Removed use of convenience libraries for tests - wasn't really supported in current version
2013-08-19 15:32:21 +00:00
4b12d6f794
Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization
2013-08-19 15:32:16 +00:00
c806d88ff1
Commented out print statements in unit test
2013-08-16 21:57:48 +00:00
16b4f0fe8b
Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable.
2013-08-13 21:04:31 +00:00
4b3021b818
Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable.
2013-08-13 21:03:48 +00:00
4585fd1caa
Merge branch 'svn/trunk'
...
Conflicts:
gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp
gtsam/nonlinear/ISAM2.cpp
gtsam/nonlinear/ISAM2.h
gtsam/slam/tests/testBetweenFactor.cpp
gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
gtsam_unstable/slam/SmartProjectionFactor.h
2013-08-11 18:16:56 +00:00
a4276eb57a
Fixed small compile error
2013-08-08 20:45:44 +00:00
e2f8dd866d
Merge branch 'svn/trunk'
...
Conflicts:
gtsam/linear/GaussianBayesTree.cpp
gtsam/linear/GaussianBayesTree.h
gtsam/linear/VectorValues.h
gtsam/linear/tests/testVectorValues.cpp
gtsam_unstable/nonlinear/sequentialSummarization.cpp
2013-08-06 18:33:24 +00:00
b0c25f2668
Split timing benchmark that had appeared inside a test to a separate timing script
2013-08-06 18:30:27 +00:00
34dc67c1af
Brought some relevant changes from aspn-imu-factor branch (is correct this time)
2013-08-02 16:04:17 +00:00
321a286f02
Revert "Brought some relevant changes from aspn-imu-factor branch"
...
This reverts commit b08a11ffb27d14487115f20745f1cea17fcc55ee.
2013-07-31 15:26:48 +00:00
7345b40feb
Brought some relevant changes from aspn-imu-factor branch
2013-07-31 15:25:03 +00:00
1b92828cc8
Fixed path
2013-07-29 23:54:40 +00:00
d5e721a1d0
Continued work on unordered classes and elimination algorithm
2013-06-06 15:36:11 +00:00
cff6d814eb
Fixed bug in Imu Bias Jacobian sizes
2013-05-19 20:25:57 +00:00
dbc05045cd
Updated Imu Factors for changes in the ImuBias class
2013-05-19 20:25:49 +00:00
54b094facb
Updated ImuBias to better conform with GTSAM standards
2013-05-19 20:25:40 +00:00
a5f28ac8f4
Created a variation of an equivalent IMU factor without Bias.
2013-05-09 23:17:18 +00:00
5bd9ffc49e
Changed EquivNavFactor test from '.h' to '.cpp' so it will actually work
2013-05-08 13:23:27 +00:00
584f5c6c8c
Fixed typos in class names
2013-04-18 21:01:44 +00:00
31cbc7c826
relax two test criterion from 1e-5 to 2e-3 so they pass on Ubuntu VM
2013-04-18 17:41:55 +00:00
35cebaa873
Moved inertial nav factors and unit tests to gtsam/navigation
2013-04-09 20:04:10 +00:00
Paul Furgale
Luca
dellaert
Chris Beall
Richard Roberts
krunalchande
gawela
Mike Bosse
djensen3
indelman
jing
Frank Dellaert
Jing Dong
Chris Beall
Luca Carlone
Alex Cunningham
Stephen Williams
Vadim Indelman