12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
16,068 Commits
1 Branch
0 Tags
79 MiB
Commit Graph

64 Commits (c1b5c192f84866eebd7a66945accd9ce3ee77dce)

Author SHA1 Message Date
Frank Dellaert c1b5c192f8 Kill more boost headers 2023-02-05 20:45:54 -08:00
Varun Agrawal 2e1cc3ca35 normalized needs to be called explicitly 2020-10-05 13:25:30 -04:00
Varun Agrawal 06ac627249 added normalize function to orthogonalize the rotation after composition 2020-10-04 19:55:08 -04:00
Christian Berg 63327a7c9d Also add jacobians to Rot3::RzRyRx for when quaternions are selected 2020-08-31 18:49:18 +02:00
Varun Agrawal b058adc675 remove const from return types for Rot3 2020-03-20 17:50:34 -04:00
Varun Agrawal c96300a7c6 added const to matrix() function for Rot3 to be consistent with SOn and added note about using Eigen transpose expression 2020-03-19 12:04:32 -04:00
Varun Agrawal dec918c3d5 undo return type of Eigen::Transpose, and add back TODO to optimize RPY 2020-03-18 19:25:31 -04:00
Varun Agrawal 2a07cfed66 improved rotation transpose with quaternions 2020-03-18 18:18:51 -04:00
Varun Agrawal 359bc161a6 updated transpose signature for Rot3Q 2020-03-18 10:44:21 -04:00
Abe fbe9aac41c squash local changes on top of gtsam upstream pull from 6/14/2016 2016-06-18 23:13:59 -07:00
Frank Dellaert 6eece9cc60 Quaternion now also uppercase 2016-01-26 23:57:34 -08:00
Frank Dellaert a0f32f6d14 Got rid of dynamic Matrix in rotate 2016-01-17 19:23:18 -08:00
Duy-Nguyen Ta d566946600 fix Rot3 constructor from a matrix. Revert to the generic template version, but provide a overload version for Matrix3 to avoid casting. 2015-09-21 10:26:43 -04:00
Duy-Nguyen Ta bc99c58226 fix Rot3-from-Matrix construction for Quaternion case 2015-09-17 17:44:00 -04:00
dellaert 205d20d4dc Rot3 action on Vector3, and templated constructor 2015-07-21 11:22:49 -07:00
Frank Dellaert 4342aa5901 Renamed rodriguez variants to preoper naming convention (uppercase for static) and spelling (Rodrigues). Also, now call Expmap in either SO3 or Quaternion. 2015-07-05 15:38:54 -07:00
dellaert c1d5b652cc Removed obsolete code 2015-02-10 22:26:58 +01:00
dellaert 47ad4c13f7 Fixed Logmap 2015-02-10 22:26:29 +01:00
dellaert 8f36e33566 Fixed rodriguez 2015-02-10 22:26:11 +01:00
dellaert 7508aa1fec Put in dummy code so compiles and links - tests fail, obviously 2015-02-10 19:04:25 +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
dellaert e0a767e7fd Renamed all dexpL/dexpInvL, merged Luca/Duy versions in Rot3 2014-12-24 12:25:53 +01:00
dellaert c6ae119414 Tightened what is needed for Lie, i.e., fewer versions of retract/localCoordinates 2014-12-22 23:42:52 +01:00
dellaert 06c3696176 Fixed more problems so everything compiles now after splitting up concepts into Group/Manifold/Lie/VectorSpace. Still 25 tests that fail. 2014-12-22 02:52:31 +01:00
dellaert 99a50a2f87 Split up concepts into Group/Manifold/Lie/VectorSpace. Also fixed some implementations and put in exceptions elsewhere, rather than CONCEPT_NOT_IMPLEMENTED macro. 2014-12-22 02:50:52 +01:00
Luca b3f0f3877c capitalized ExpmapDerivative and LogmapDerivative 2014-12-10 16:16:29 -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 02f92e4e04 included Jacobian of logmap in quaternion mode 2014-12-08 18:39:47 -05:00
dellaert 9dc3d28bf2 Now Rot3 uses QuaternionChart Expmap/Logmap in quaternion mode 2014-12-08 13:16:30 +01:00
nsrinivasan7 a5877a96b8 @dellaert. Works with quaternion switch on in gcc 4.7, 4.8 and MSVC 2012. Pls Merge if compiles on MAC 2014-12-05 16:01:10 -05:00
dellaert cfe56a0aa8 Removed transpose_. It did speed up things but was bad design. Will need to profile again and find different ways to cope with transpose() overhead. One way is to return a Eigen::Transpose<> object as hinted to in comments. 2014-10-23 19:13:37 +02:00
dellaert 77e7f0437d Merge remote-tracking branch 'origin/feature/FixQuaternion' into feature/BAD 
Conflicts:
	gtsam/geometry/tests/testRot3M.cpp
	gtsam/geometry/tests/testRot3Q.cpp
 2014-10-23 10:03:10 +02:00
dellaert 056254bf93 Optimized a bit more 2014-10-23 09:51:43 +02:00
dellaert 941d6dfe07 Fixed LogMap - something fishy in Eigen? Or at least low-accuracy. 2014-10-23 01:54:46 +02:00
dellaert 483d713859 unrotate is same now, with transpose_ 2014-10-22 22:16:35 +02:00
dellaert 0f26842073 Added transpose_ in Quaternion mode 2014-10-22 21:55:11 +02:00
dellaert c4bf680e96 Cached Rot3::transpose(). Inspired by @cbeall3 fix of Unit3, I realized that with one million points and 1000 cameras, the same Matrix3 (R_.transpose()) was computed a 1000 more times than needed. Especially with quaternions this would be expensive, even with Rot3Q. 2014-10-15 11:51:41 +02:00
dellaert b704b7b1a1 Faster versions 2014-10-07 19:34:45 +02:00
dellaert ea40de6758 Fixed Jacobian versions 2014-10-06 21:37:05 +02:00
Frank Dellaert a3003a0736 Merge branch 'origin/release/2.4.0' 
Mainly improvements in EssentialMatrix stuff, but also has the new precisions in the diagonal noise model.
 2014-01-04 00:29:32 -05:00
Frank Dellaert f54861f851 Made it more clear that Rotation constructor takes columns. 2014-01-03 15:56:45 -05:00
Frank Dellaert bd3126f7b4 Merged changes from the trunk back into geometry. This triggered Eigen merge, as well as Vector/Matrix in base. Next up: slam, unstable. 
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/branches/2.4@20422 898a188c-9671-0410-8e00-e3fd810bbb7f
 2013-12-21 18:34:23 -05:00
Frank Dellaert dd447f2c6c Moved all common methods in new file Rot3.cpp 
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20416 898a188c-9671-0410-8e00-e3fd810bbb7f
 2013-12-21 18:30:46 -05:00
Luca Carlone 697f185aad Fixed missing print function in Rot3Q 2013-08-19 20:35:44 +00:00
Luca Carlone 5b1fd32871 Fixed missing print function in Rot3Q 2013-08-19 20:35:37 +00:00
Frank Dellaert 640fcd94b1 Added stream operator << 2013-06-05 23:41:46 +00:00
Richard Roberts eeef9eab32 Generating config.h file in CMake with quaternion mode flag, dataset paths. Also added CMake option to use system-installed Eigen, which works by generating a global eigen include file containing the corresponding include paths. 2013-04-25 15:57:15 +00:00
Richard Roberts dd84ffcc8e Fix in Rot3Q constructor 2013-04-22 17:44:07 +00:00
Richard Roberts 547323cc79 Fixed a bunch of compiler warnings 2013-04-05 21:34:04 +00:00