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7819 Commits (9460c13cd187c86efaa57eb0d70550e228c0047c)

Author SHA1 Message Date
dellaert aaf4588f20 Improved simple helicopter 2014-12-26 00:53:36 +01:00
Jing Dong 19f823a1fa fix deprecated dExpInv_exp to ExpmapDerivative in simpleHeli 2014-12-25 18:46:47 -05:00
dellaert 625ebca72a Lucky guess fix of decoupled derivatives 2014-12-26 00:40:08 +01:00
dellaert 902e7e57e5 Fixing helicopter 2014-12-26 00:21:33 +01:00
dellaert 9955610ea4 Back to compile flags 2014-12-26 00:19:59 +01:00
thduynguyen 11858da42b fix testSimpleHelicopter 2014-12-25 17:25:42 -05:00
thduynguyen 2aaa7e7564 fix degenerated cases in Pose3's ExpmapDerivative. testPose3 passed. 2014-12-25 16:59:11 -05:00
dellaert afe20d83bd Dealing with Pose3 mojo loss 2014-12-25 20:04:28 +01:00
dellaert 47ff09f6c8 Pose3 lost its mojo! But there are errors in Expmap/Logmap derivatives around identity... 2014-12-25 19:43:32 +01:00
dellaert 2624e9876d Testing machinery 2014-12-25 19:42:21 +01:00
dellaert 5c0db68152 Fixed compile error from develop 2014-12-25 18:16:47 +01:00
dellaert b5c5a268a7 Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits 
Conflicts:
	gtsam/geometry/Pose2.h
	gtsam/geometry/Pose3.cpp
	gtsam/geometry/tests/testPose3.cpp
 2014-12-25 18:16:30 +01:00
dellaert c8b3bd7598 Fixed and tested chart derivatives (for Pose2, SLOW EXPMAP) 2014-12-25 17:43:43 +01:00
dellaert 7213f0b2eb Moved Canonical to AdaptAutoDiff.h for now 2014-12-25 17:42:44 +01:00
dellaert ce425524c0 Fix small mistake in Equals 2014-12-25 17:41:06 +01:00
Frank Dellaert ef2c9371a9 Merged in feature/Pose3ExpmapDerivative (pull request #79) 
Pose3 Expmap Derivative
 2014-12-25 16:36:10 +01:00
dellaert 4635d22d7f Now argument of LogmapDerivative is correct 2014-12-25 16:22:21 +01:00
dellaert 1b61d0a7f3 New tests for Expmap/Logmap derivatives 2014-12-25 16:11:13 +01:00
thduynguyen 65bbb5e12d use static free function and fix comments 2014-12-25 09:07:21 -05:00
thduynguyen 6feb06bc91 less confusing comments 2014-12-25 08:54:53 -05:00
thduynguyen 34592f21c4 remove unnecessary malloc 2014-12-25 08:53:53 -05:00
thduynguyen 5d0e8f202f unify duplicated code 2014-12-24 14:08:32 -05:00
thduynguyen 5ae9f19de2 unify duplicated code 2014-12-24 14:08:08 -05:00
thduynguyen ea80e36b24 Pose3 [Expmap/Logmap]Derivative 2014-12-24 14:01:16 -05:00
thduynguyen ea4e9a5ac6 small code optim 2014-12-24 14:00:33 -05:00
dellaert 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
dellaert 72c539fa9c Target 2014-12-24 15:24:48 +01:00
dellaert 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
Frank Dellaert 7dfbcc04e9 Merged in feature/ExmapDerivative (pull request #77) 
Logmap and Expmap derivatives
 2014-12-24 12:51:18 +01:00
dellaert e0a767e7fd Renamed all dexpL/dexpInvL, merged Luca/Duy versions in Rot3 2014-12-24 12:25:53 +01:00
dellaert 2ffa9dc6d2 Renamed old Rot3 methods 2014-12-24 11:36:06 +01:00
dellaert 2f31500170 Removed print/equals testing (not its place, spurious output) 2014-12-24 11:35:17 +01:00
dellaert d9f5681dc2 Fixed warning 2014-12-24 11:34:53 +01:00
dellaert 0a7e099eec Merged in Luca's rename to ExpmapDerivative and LogMapDerivative from 'origin/feature/imuFixed' 2014-12-24 11:07:52 +01:00
dellaert f22c922600 The great Lie group heist: LieGroup CRTP class that defines both Manifold and Lie Group methods for a class, using AdjointMap as its main weapon. For the retract/localCoordinates, a ChartAtOrigin struct needs to be defined that can be switched at compile time (example Pose2). Rot3, Pose3 soon to follow. 2014-12-24 01:37:30 +01:00
dellaert 6ddd37a0e2 typename 2014-12-24 01:35:04 +01:00
dellaert 3d15868ece Renamed internal::LieGroup -> internal::LieGroupTraits 2014-12-24 01:34:33 +01:00
dellaert 82c8fd181a Lie group traits tested 2014-12-24 01:33:38 +01:00
dellaert 6a52d93e96 Using FixedDimension 2014-12-24 01:29:08 +01:00
dellaert 4078f02c1f Fixed typo 2014-12-23 21:39:15 +01:00
dellaert b67ef25b96 Print via traits 2014-12-23 21:37:43 +01:00
dellaert b9de4a6f47 AdjointMap 2014-12-23 21:37:28 +01:00
krunalchande d3c8d348c5 Changed dynamic allocations of ones, zeros and identity matrices to static. 2014-12-23 11:32:02 -05:00
dellaert ff32b912bc Made Class apparent, made requireemnts simpler (no derivatives needed - for now). 2014-12-23 15:04:53 +01:00
dellaert 6d05069ef7 Cleaned up and tested dynamic version 2014-12-23 14:56:49 +01:00
dellaert 36f8510d7d Made clear template argument is a class, eliminated small amount of copy/paste. 2014-12-23 14:56:49 +01:00
dellaert 6648da20fe Made clear template argument is a class, made explicit only fixed-size types handled for now 2014-12-23 14:56:49 +01:00
dellaert ea3b4624d8 Testable concept prereqs check 2014-12-23 14:56:48 +01:00
dellaert 8f56e9a261 Small refactor 2014-12-23 14:56:48 +01:00
dellaert b565708851 testOptionalJacobian target 2014-12-23 14:56:48 +01:00