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7203 Commits (c4fafd9268ff37390066429b881b0d2f952a4f6e)

Author SHA1 Message Date
Luca c4fafd9268 added unit test, improved computation 2014-12-11 11:06:47 -05:00
Luca 9dbca87c86 fixed evaluate error to compy with additive Gaussian noise model. Still to be optimized, but unit tests pass :-) 2014-12-10 20:51:26 -05:00
Luca 1dfd9d2ae7 cleaned up unit test 2014-12-10 16:56:31 -05:00
Luca 36358308fd minor code optimization in ExpmapDerivative 2014-12-10 16:56:21 -05:00
Luca b3f0f3877c capitalized ExpmapDerivative and LogmapDerivative 2014-12-10 16:16:29 -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
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
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
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
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
Luca 2730dab4c6 made test more serious and easy to understand 2014-12-07 15:04:10 -05:00
Luca ab54ca1697 addressed some of Frank's comments 2014-12-07 15:03:48 -05:00
Luca aee20d669d removed useless comments, added other comments 2014-12-07 13:58:13 -05:00
cbeall3 cd35db218b Minor cleanup 2014-12-07 13:58:06 -05:00
cbeall3 b58064ce43 Stereo calibration can now be optimized 2014-12-07 13:58:06 -05:00
cbeall3 971a53cfb5 Fixed size vectors for all Logmap, localcoordinates and vector methods 2014-12-07 13:51:17 -05:00
Luca 6d571ca6b9 truth revealing unit test :-) re-established good functioning of IMU factor (TODO: fix CombinedImuFactor F & G) 2014-12-07 13:14:45 -05:00
cbeall3 bfd40014a2 comma initialization 2014-12-07 12:38:36 -05:00
Luca 792d2656d0 using cross product instead of skewSymm matrix in predict 2014-12-06 19:13:02 -05:00
Luca d46224e8a1 added const and changed name in updatePreintegratedMeasurements to "omegaCoriolisHat" to comply with notation in "predict" 2014-12-06 19:04:41 -05:00
krunalchande 943a18b124 Fixed confusion in naming. 2014-12-06 17:42:07 -05:00
Frank Dellaert 8cc26c759d BIG CHANGE: the OptionalJacobian<M,N> obviates the need for the `optional<Matrix&> Jacobian arguments. They will continue to exist, for backwards compatibility, in the old-style factors, but everywhere else they should disappear. This PR by Natesh has eradicated all but one in gtsam/geometry. Great job !!!! 
Merged in feature/fixedSizeDerivatives (pull request #54)

Proposed way to do Jacobians from now on via Eigen::Ref like type
 2014-12-05 22:54:36 +01:00
dellaert 468aa5d6b6 Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives 2014-12-05 22:23:12 +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