fbcbea5f61
- Fix threshold in Rot3 Logmap for Linux 32bit. Should be 1e-5 instead of 1e-10
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- The fix makes PriorFactor and PosePrior in vSLAM work.
- Now vSLAMexample can use PosePrior. It doesn't need hard constraints. Also, the gaussNewton can converge.
2010-10-21 17:29:29 +00:00
7307a5c8d7
Fix round-off errors that fail testRot3 and testPose3 in Linux-32bit.
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For delta=1e-5, numericalDerivative2x(...) returns Jacobian with all 0 entries.
Use delta=1e-4!
testTrifocal still fails with sign inversion problem. Don't know why.
2010-10-21 04:41:42 +00:00
24d499039f
prepend license information on all the codes
2010-10-14 04:54:38 +00:00
1d52ff90a8
Merged simplelinear branch into trunk
2010-10-08 22:04:47 +00:00
7f25b3f086
moved constants header
2010-09-11 00:38:49 +00:00
23a30f8475
Removed remaining global lie functions on lie objects and configs, switched the Lie base class to a simple concept check function, fixed build script for examples. ISAM2 and MastSLAM verified as compiling.
2010-08-26 19:55:40 +00:00
458cc52fff
Switched geometry to use primarily member functions for calculations with optional derivatives, so there are no more optional derivative functions. Also split Vector specializations for Lie into gtsam/base/LieVector.h which will later change into a real wrapper function. Specialized numericalDerivative to allow for functions to return doubles. Projects ISAM2, MastSLAM updated.
2010-08-22 21:45:53 +00:00
256697d345
Moved transform_[to|from] and [un]rotate to be static functions in classes
2010-08-20 21:47:30 +00:00
8c33168fb3
Made all core geometry functions that have derivatives use the combined derivative form instead of separate derivative functions.
2010-08-20 15:17:13 +00:00
8e364cb34e
Improvements to the Lie objects, with new member/static functions in most of the geometry objects. Many of the functions that were previously global have been moved to static functions. See Lie.h for more details.
2010-08-19 20:03:06 +00:00
f1132359d4
Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs)
2010-08-19 17:23:19 +00:00
fea5beb638
Re-organization: moving all files.
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I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests.
cpp will be further renamed/sub-divided and contains the core library.
I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 07:16:31 +00:00
Duy-Nguyen Ta
Kai Ni
Richard Roberts
Frank Dellaert
Alex Cunningham