dellaert
|
6bed20b28a
|
Abandoned silly coercion of NavState into Lie group. It's just a manifold: it does not make sense to compose two NavStates, or take the inverse of a NavState.
|
2016-06-05 01:04:18 -07:00 |
|
dellaert
|
3d30f4ac5a
|
Small change, prototype inline retract
|
2016-06-04 16:22:31 -07:00 |
|
dellaert
|
34513f92b4
|
Re-enable method for manifold pre-integration
|
2016-05-15 12:59:06 -07:00 |
|
dellaert
|
308a75e49b
|
Created one base class and two derived classes
|
2016-05-15 11:12:40 -07:00 |
|
dellaert
|
fa15264e83
|
Add ifdefs that restore the old IMU factor functionality
|
2016-05-15 09:17:29 -07:00 |
Frank
|
0372a959ee
|
Many small improvements, bug-fixes, and tests
|
2016-02-24 11:01:19 -08:00 |
|
Frank
|
0a7fd27f28
|
Working on getting a simple typedef to compile - as well as dealing with Point3() now creating uninitialized memory.
|
2016-02-10 17:48:52 -08:00 |
|
Frank Dellaert
|
3a891b2a2c
|
ostream operator
|
2016-01-26 20:42:48 -08:00 |
|
dellaert
|
325ede23fe
|
BIG: switch to NavState delta pose
|
2015-07-31 15:08:12 -07:00 |
|
dellaert
|
e3d36da188
|
Switched argument order
|
2015-07-31 13:33:23 -07:00 |
|
dellaert
|
c40ffa0174
|
Some more documentation
|
2015-07-31 06:37:39 -07:00 |
|
dellaert
|
91eeede05a
|
Better documentation, and conditional evaluation of derivatives
|
2015-07-30 21:55:40 -07:00 |
|
dellaert
|
2ad50ab86e
|
More efficient derivatives
|
2015-07-30 09:48:00 -07:00 |
|
dellaert
|
cefc441fba
|
bodyVelocity and working update derivatives
|
2015-07-30 09:39:25 -07:00 |
|
dellaert
|
13f8935c52
|
update prototype
|
2015-07-30 08:05:39 -07:00 |
|
dellaert
|
5ca67d0a3a
|
FromPoseVelocity
|
2015-07-29 11:20:35 -07:00 |
|
dellaert
|
7a78d54fc3
|
derivatives for Local and localCoordinates
|
2015-07-24 14:43:06 +02:00 |
|
dellaert
|
323ed5220b
|
Gravity should be specified in NAV coordinates! Default Nav frame is assumed to be *Z down* for the old-style constructors.
|
2015-07-24 13:22:32 +02:00 |
|
dellaert
|
c6b68e6795
|
No more second-order integration flag
|
2015-07-23 17:08:19 +02:00 |
|
dellaert
|
9b3c051ca1
|
Fied argument types
|
2015-07-22 22:22:31 +02:00 |
|
dellaert
|
8ae4e2afd9
|
A fully functioning predict from preintegrated tangent vector
|
2015-07-22 17:46:03 +02:00 |
|
dellaert
|
2a38ed9603
|
Additive version for coriolis forces
|
2015-07-22 01:01:19 -04:00 |
|
dellaert
|
a9b4cdbe47
|
coriolis now lives in NavState
|
2015-07-22 00:19:08 -04:00 |
|
dellaert
|
4dbe5e68d2
|
Component access derivatives
|
2015-07-21 18:28:02 -04:00 |
|
dellaert
|
2dd7987478
|
Working AdjointMap and hence also derived derivatives of retract/localCoordinates
|
2015-07-21 16:25:58 -04:00 |
|
dellaert
|
2dbad989d1
|
Working Logmap !
|
2015-07-21 16:09:56 -04:00 |
|
dellaert
|
c7bc497014
|
Working Expmap
|
2015-07-21 11:36:28 -07:00 |
|
dellaert
|
4c8c669d71
|
Moved NavState to its own header and totally revamped as a semi-direct product
|
2015-07-21 11:23:24 -07:00 |