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9335 Commits (ae58516e23cdd1d896e38d1196bb33f20e3e6067)

Author SHA1 Message Date
Frank Dellaert c2af5400c4 Simplified derivatives - complicated "accurate" path might be wrong 2016-01-16 18:33:11 -08:00
Frank Dellaert 236a69609c Coordinate compiler flags 2016-01-16 18:25:01 -08:00
Frank Dellaert 25948677c5 Merged in fix/SmartFactorSerialization (pull request #202) 
fixed smart factors / IMU factor serialization, add unit tests
 2016-01-14 07:58:22 -08:00
Jing Dong c3edee1e2d fixed imu factor serialization, add unit test 2016-01-13 21:33:41 -05:00
Jing Dong 6ab909a92c fixed smart factors serialization, add unit tests] 2016-01-13 12:22:58 -05:00
Frank Dellaert 21a63d8d0e Using covariances again 2016-01-03 21:46:15 -08:00
Frank Dellaert c2a046cdb0 Exact dexp derivative flag 2016-01-03 10:53:50 -08:00
Frank Dellaert fb94e621e0 General noise models 2016-01-03 09:58:36 -08:00
Frank Dellaert 07693337af Massive refactor: matrices only! 2016-01-03 00:30:45 -08:00
Frank Dellaert a5c955a44c Debugging matrix version 2016-01-02 23:50:05 -08:00
Frank Dellaert 8f507d83f2 Deal w name change 2016-01-02 16:24:10 -08:00
Frank Dellaert 3f17c58a5c Merge branch 'feature/ImuFactorPush2' into manifold 
Conflicts:
	gtsam/navigation/ScenarioRunner.cpp
	gtsam/navigation/ScenarioRunner.h
 2016-01-02 16:21:01 -08:00
Frank Dellaert ac544eab89 Merge remote-tracking branch 'origin/feature/scenarios' into feature/ImuFactorPush2 
Conflicts:
	gtsam/navigation/PreintegrationBase.h
 2016-01-02 16:16:04 -08:00
Frank Dellaert 076612365e Addressed review comments by Abe 2016-01-02 16:11:11 -08:00
Frank Dellaert f11369ff4d Block-wise multiplication 2016-01-02 15:47:41 -08:00
Frank Dellaert a313fb92b9 sqrt info path 2016-01-02 15:25:56 -08:00
Frank Dellaert 2040571ad3 Predict covariance now calculated correctly 2016-01-02 14:53:41 -08:00
Frank Dellaert 97a8d21ebf Some debugging of zeta 2016-01-02 13:32:28 -08:00
Frank Dellaert 242a387ef1 Added AggregateReadings class and local functors.h header. Implemented the derivative of ExpmapDerivative correction. 2016-01-02 13:30:58 -08:00
Frank Dellaert 31eec5317c Merged in feature/biasJacobians (pull request #201) 
Feature/biasjacobians
 2015-12-30 12:12:13 -08:00
Frank Dellaert b3ffc6d824 Added missing Jacobians 2015-12-30 00:15:02 -08:00
Frank Dellaert 6f8b05c0d0 ignore some files 2015-12-30 00:14:51 -08:00
Frank Dellaert 9a26f8508e Compare diagonals as well for easy debugging 2015-12-29 17:26:15 -08:00
Frank Dellaert 2440b63e32 Fixed covariances by dividing by dt or dt22, so the right-hand nosiy measurement is indeed used with the correct noise model 2015-12-29 16:13:19 -08:00
Frank Dellaert 8a31243761 Sanity check sampler, and compare 9*9 covariance on NavState 2015-12-29 15:38:30 -08:00
Frank Dellaert e52f7ec705 discrete noise models 2015-12-29 09:47:56 -08:00
Frank Dellaert 0dfd44f26c A first implementation of noiseModel and covariance 2015-12-29 09:03:13 -08:00
Frank Dellaert 610cd5f1d3 Output matrix in right order 2015-12-29 08:46:16 -08:00
Frank Dellaert daa9bd5b2a Removed debug code 2015-12-28 17:20:21 -08:00
Frank Dellaert 9eed146612 Fixed two bugs 2015-12-28 17:19:33 -08:00
Frank Dellaert 52397bb4a4 Several more tests with different initial conditions 2015-12-28 17:19:15 -08:00
Frank Dellaert e52cbf74a6 Prediction now exact with second-order position update, except in last scenario 2015-12-28 15:28:12 -08:00
Frank Dellaert d3d3b8399d Correct for gravity and V0 2015-12-28 13:17:41 -08:00
Frank Dellaert 06b1f381ea Added position and velocity updates 2015-12-28 12:34:11 -08:00
Frank Dellaert 9e99f88473 Prediction works ! 2015-12-28 10:00:53 -08:00
Frank Dellaert 68b6d31494 Developed linear factor graph algorithm 2015-12-28 09:40:05 -08:00
Frank Dellaert 874d492318 Spin 2015-12-28 09:37:00 -08:00
Frank Dellaert d0b020b6e8 Skeleton compiles/links 2015-12-28 07:11:45 -08:00
Frank Dellaert 7834ac08df Now using Params 2015-12-27 18:56:13 -08:00
Frank Dellaert 05df0ca0cc compiler directives 2015-12-27 18:41:50 -08:00
Frank 2578a7098f Large refactor with defaultParams and ScenarioRunners - MC tests commented out for now. 2015-12-24 16:02:04 -08:00
Frank 2f17c7d54f comment out failing test (on Ubuntu) 2015-12-24 16:01:36 -08:00
Frank b9281b9ea6 Allow different convention 2015-12-24 16:01:21 -08:00
Frank f37fe2613b Merge remote-tracking branch 'origin/feature/scenarios' into feature/ImuFactorPush2 
Conflicts:
	gtsam/navigation/PreintegrationBase.h
	gtsam/navigation/tests/testImuFactor.cpp
 2015-12-24 14:36:35 -08:00
Frank fcb16ea8c3 Noise propagation 2015-12-24 14:26:32 -08:00
Frank 88c1308ccf Some refactoring 2015-12-23 17:59:37 -08:00
Frank 8e1041c56a Merge remote-tracking branch 'bitbucket/RSS_ImuFactor' into feature/scenarios 2015-12-23 16:18:59 -08:00
Frank 1245e899d6 Allow for bias 2015-12-23 16:14:59 -08:00
Frank Dellaert 5869b8cb65 Merge remote-tracking branch 'origin/RSS_ImuFactor' into feature/scenarios 2015-12-23 15:05:14 -08:00
Frank Dellaert f79a9b8d3a Make two acceleration scenarios 2015-12-23 15:04:36 -08:00