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7871 Commits (a4aa7b9f45cc2dae6f74016b03344bbeaa00972c)

Author SHA1 Message Date
Sungtae An e9b0f7b98f Change Cholesky decomposed matrix from 'Upper' to 'Lower' in order to avoid confusion. 2014-12-10 02:55:40 -05:00
thduynguyen ba903536c8 fix ACTIVE/INACTIVE constants as Frank suggested 2014-12-09 22:29:21 -05:00
thduynguyen 565eb99948 remove a TODO as it's done. 2014-12-09 22:28:39 -05:00
Luca 57d83be48a matrix definition on same line 2014-12-09 19:05:14 -05:00
Luca b96a463b10 ok, fixed updatePreintegratedMeasurements with optionalJacobian 2014-12-09 18:32:38 -05:00
Luca d809a952df started to include optionalJacobian: compiles after merge to develop and all unit tests pass 2014-12-09 18:03:54 -05:00
Luca bf8de1341b Merge branch 'develop' 2014-12-09 17:13:30 -05:00
Luca e82b815a48 renamed right jacobian of expmap and logmap (removed "right", according to Frank's suggestion :-) 2014-12-09 17:10:04 -05:00
Luca 1e8402231c applied (to some extend) the naming convention proposed by Frank 2014-12-09 16:59:30 -05:00
Luca b593a6a2d5 removing redundant lines and using jacobian computation from base class 2014-12-09 16:41:29 -05:00
Luca 5f17e1fb98 fixed noise propagation. Luca&Christian: insight is that preintegration noise acts on rotations as R * expmap(noise), while before it was expmap( logmap(R) + noise) 2014-12-09 16:34:43 -05:00
thduynguyen 85397223ef fix QPSolver unit tests 2014-12-09 16:27:11 -05:00
thduynguyen 9b418c98ca fix LPSolver unittest 2014-12-09 16:26:19 -05:00
Luca 013c8a4cef added extra test on covariance propagation 2014-12-09 16:05:39 -05:00
Luca d22868d524 removed multiple definitions of trivial matrices (eye,zero) 2014-12-09 15:55:24 -05:00
Luca 2c1d72e7d7 tested Jacobians computation (G) for combined IMU factor 2014-12-09 15:50:41 -05:00
Luca 53b59bf488 added truth revealing unit test for Combined Imu factor (and fixed latest changes, that, moving updatePreintegratedMeasurements before, were creating a bug) 2014-12-09 15:17:26 -05:00
Frank Dellaert 2d231edd1b Merged in fix/windowsExpressions (pull request #69) 
Windows Fixes
 2014-12-09 19:06:02 +01:00
Andrew Melim 1e778cf77b No longer need to cast function pointers for expressions on Windows, with Optional Jacobian 2014-12-09 11:53:35 -05:00
Andrew Melim 137ea64200 Updating with OptionalJacobian 2014-12-09 11:49:47 -05:00
Andrew Melim 90676199dd Adding comment relating to issue and move around fix preprocessor locations 2014-12-09 11:49:13 -05:00
Andrew Melim 3bd491bf66 Merge branch 'develop' into fix/windowsExpressions 2014-12-09 11:04:30 -05:00
thduynguyen 57aae7f7b1 revert .cproject to its previous version in commit a9e3545a 2014-12-09 10:25:59 -05:00
thduynguyen 733b041cf2 Merge remote-tracking branch 'origin/feature/quadratic_programming' into feature/qp_refactor 
Conflicts:
	gtsam_unstable/linear/QPSolver.cpp
 2014-12-09 10:24:56 -05:00
thduynguyen 001794ac84 refactor QPSolver inprogress... Compiled but tests failed. 2014-12-09 06:13:57 -05:00
thduynguyen 8c4705b905 check testable concept 2014-12-09 06:13:01 -05:00
thduynguyen a4f8ead2a6 add print 2014-12-09 06:12:41 -05:00
Andrew Melim cea76a2848 More template handholding for windows 2014-12-08 21:48:59 -05:00
Andrew Melim 701dcc1c99 Correcting VLA issue, and add template specification for between Pose2 objects. More template specifcations will be needed on windows, unless another fix is found 2014-12-08 21:39:12 -05:00
Andrew Melim fdc1d50801 Added comment 2014-12-08 20:48:36 -05:00
Andrew Melim 4f6ed03803 Fix missing symbol exports for windows 2014-12-08 20:45:24 -05:00
Luca 64dfde3ae6 in the process of adding tests for the combined imu factor (not there yet) 2014-12-08 20:28:28 -05:00
Andrew Melim 92f1f33818 Preprocessor warning does not work on windows. Use pragma message instead 2014-12-08 20:24:00 -05:00
Luca b126d98609 included suggestions from Frank 2014-12-08 20:20:03 -05:00
dellaert 21b97ddedf Removed obsolete methods (but link error!) 2014-12-09 01:04:21 +01:00
dellaert 449ba1f37a LieGroupChart makes use of Exponential map (and its inverse) around identity 2014-12-09 00:52:53 +01:00
Luca dc13912ce2 moved jacobian computation to updateMeasurement functions, and fixed noise propagation. Luca&Christian: insight is that preintegration noise acts on rotations as R * expmap(noise), while before it was expmap( logmap(R) + noise) 2014-12-08 18:41:39 -05:00
Luca 02f92e4e04 included Jacobian of logmap in quaternion mode 2014-12-08 18:39:47 -05:00
dellaert 3077d03568 Header should also be included in non-quaternion mode 2014-12-09 00:11:28 +01:00
dellaert 8fcf9d9866 SO(3) is a *Matrix* Lie group. This is it. Rot3 will inherit from this *or* Quaternion. 2014-12-09 00:11:28 +01:00
dellaert 118d561e96 Created GTSAM_GROUP_IDENTITY as it handles templates differently 2014-12-09 00:11:28 +01:00
Sungtae An c5b4d731cc Correct Yond-Dian's name 2014-12-08 18:03:40 -05:00
Luca 54ee973309 changed naming in comments about expmap & logmap jacobians 2014-12-08 16:27:57 -05:00
Luca f991c1a398 getting rid of rightJacobianSO3 (not completed yet) 2014-12-08 13:15:51 -05:00
Luca 422db08c69 included Jacobian for logmap and expmap, with unit tests (Note: only implemented for Rot3M, this will not work in quaternion mode) 2014-12-08 12:31:02 -05:00
Luca d5d7594888 deleted hard-coded function from IMU unit test 2014-12-08 12:31:02 -05:00
Chris Beall fbcb9a4d67 Fix intermittent optimization crash in Debug+TBB modes, exposed by testGeneralSFMFactor, etc. 2014-12-08 10:59:49 -05:00
lvzhaoyang 6d97b8d3db Small fix of IMUKittiExampleAdvanced. Now the same priorFactor issue 2014-12-08 10:41:52 -05:00
Frank Dellaert 473bc1b703 Derivatives of Charts, and special Lie group treatment 2014-12-08 13:08:39 +00:00
dellaert 9dc3d28bf2 Now Rot3 uses QuaternionChart Expmap/Logmap in quaternion mode 2014-12-08 13:16:30 +01:00