503 Commits (d11b2e6bd582d15602973f033da38a8507e5915c)

Author	SHA1	Message	Date
Frank Dellaert	d11b2e6bd5	Added omitted headers	2010-01-10 18:37:55 +00:00
Richard Roberts	88ae5380a8	Removed Vector-specific versions of NumericalDerivative, instead Vector is now a Lie object	2010-01-10 18:23:47 +00:00
Frank Dellaert	1a96ef41cf	Created Pose3Config, Pose3Graph, and tested loop closure optimization.	2010-01-10 18:21:20 +00:00
Frank Dellaert	2fe02dbaa7	Moved optimization tests to testPose2Graph	2010-01-10 18:20:10 +00:00
Richard Roberts	edb68b3b60	Fixed typo in LieConfig expmap(Vector)	2010-01-10 17:48:55 +00:00
Richard Roberts	33ba34a1f6	Minimized headers included in Lie.h, removed print from testLieConfig	2010-01-10 17:26:44 +00:00
Frank Dellaert	8d84078036	Loop closure tested	2010-01-10 17:02:49 +00:00
Frank Dellaert	12caabb667	Method to add a factor without having to do shared factor dance	2010-01-10 17:02:35 +00:00
Frank Dellaert	120f1301c2	operator[]	2010-01-10 17:01:48 +00:00
Frank Dellaert	710bce5cc4	Pose2Config is now simply a typedef (note that for linking specific template instantiations were needed).	2010-01-10 16:17:55 +00:00
Frank Dellaert	4a21fb9387	Fixed 2nd expmap template, which now creates a VectorConfig and calls the first template	2010-01-10 16:16:03 +00:00
Frank Dellaert	65e4dc1342	pose2Circle	2010-01-10 15:46:18 +00:00
Frank Dellaert	43b2facd10	Now Pose3Config == LieConfig	2010-01-10 14:59:39 +00:00
Frank Dellaert	92c58e50a1	Small changes, mainly const correctness	2010-01-10 14:59:22 +00:00
Frank Dellaert	c957672656	Small to change to work well with LieConfig	2010-01-10 14:55:19 +00:00
Frank Dellaert	794ffd3b2f	Fixed significant bug in Pose2Factor, where we forgot to multiply the error with the square root inverse covariance.	2010-01-10 13:55:55 +00:00
Frank Dellaert	8061f29ec5	added test clarifying Ax-b \approx h(x)-z	2010-01-10 13:54:34 +00:00
Frank Dellaert	f1f21a8589	inverted sign of square root to make inv sqrt positive for simple covariance matrices	2010-01-10 13:53:31 +00:00
Frank Dellaert	bf315781af	defined global functions in Lie.h rather than here	2010-01-10 12:35:41 +00:00
Frank Dellaert	6bcb9d08d6	Unit tests for correct "Agrawal06iros" versions: they are indeed correct.	2010-01-10 12:26:31 +00:00
Frank Dellaert	30367e35fb	Much faster compund rotation using Justin's (indeed correct) formula	2010-01-10 12:25:46 +00:00
Frank Dellaert	d5eade62ef	Moved expmap and logmap to .cpp, also tested correct "Agrawal06iros" versions, and they are indeed correct (see testPose3).	2010-01-10 12:24:31 +00:00
Frank Dellaert	ec1b57ed08	Added Lie required functions (trivial) for Vector. Not in Vector.h as this becomes circular.	2010-01-10 12:22:59 +00:00
Richard Roberts	4fa53a1f79	Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function.	2010-01-10 06:35:16 +00:00
Kai Ni	6a7987fa91	fix Pose2Prior problem and adding prior factor when splitting factor graph	2010-01-09 23:39:11 +00:00
Richard Roberts	2b82ff65e7	Deriving Lie objects from a base class Lie<T>, which provides member functions to access global functions, for use in MATLAB.	2010-01-09 23:15:06 +00:00
Kai Ni	d015b31799	more meaningful error messages for matrix operations	2010-01-09 07:06:29 +00:00
Frank Dellaert	cc358fb2ce	removed print statements	2010-01-09 02:37:58 +00:00
Frank Dellaert	5fbb820341	fixed comments and tolerances	2010-01-09 02:27:49 +00:00
Frank Dellaert	6851b31fad	Added static methods to construct rotations, coded up convention for yaw-pitch-roll, modernized RQ	2010-01-09 00:03:47 +00:00
Kai Ni	d4f92c7bb6	pass FactorGraph as reference into split	2010-01-08 20:27:10 +00:00
Kai Ni	06b7f8ee04	add split to FactorGraph	2010-01-08 19:07:46 +00:00
Frank Dellaert	5dc237eeea	BetweenFactor is a template that models the measurement between two Lie types e.g. Pose2 or Pose3. Pose2Factor and Pose3Factor are now simply typedefs.	2010-01-08 15:32:45 +00:00
Kai Ni	215ff24d0f	generate ordering by breadth-first-search, a lot faster than before	2010-01-08 04:12:23 +00:00
Frank Dellaert	8d22b3aca2	Just refactoring	2010-01-08 03:38:05 +00:00
Frank Dellaert	f684becf1f	Fixed Dbetween1	2010-01-08 03:06:03 +00:00
Richard Roberts	19a3e228d7	Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes.	2010-01-08 00:40:17 +00:00
Kai Ni	a845b3d30a	generate ordering from the spanning tree	2010-01-07 08:00:54 +00:00
Kai Ni	6298a45050	use prim algorithm instead of kruskal for finding MST, which yields the parent map.	2010-01-07 06:25:54 +00:00
Alex Cunningham	20c6f29823	Moved control-related components to separate library	2010-01-06 20:01:34 +00:00
Frank Dellaert	b20ed42134	log and between	2010-01-06 19:29:41 +00:00
Frank Dellaert	f77da96caf	Modernized and tested RQ and added Rot3::ypr. Note this yaw-pitch-roll is different from ML version, which is focused on cameras. Let the fun begin...	2010-01-06 15:52:43 +00:00
Kai Ni	9845a5ae37	add findMinimumSpanningTree to FactorGraph	2010-01-06 11:15:37 +00:00
Frank Dellaert	cd644e75a5	GaussianBayesNet::matrix now properly divides in sigmas	2010-01-05 14:14:49 +00:00
Frank Dellaert	22d66df766	added manifold test	2010-01-05 14:13:51 +00:00
Richard Roberts	39334ea9e0	Update MATLAB wrapper for earlier Pose2* changes	2010-01-04 18:07:24 +00:00
Kai Ni	46cc85e351	added size and clear to pose2config	2010-01-03 07:25:59 +00:00
Michael Kaess	052149771a	relinearizing factors corresponding to contaminated cliques	2010-01-03 04:57:35 +00:00
Kai Ni	cade0e7780	fix timing test linking problem by using noinst_PROGRAMS	2010-01-03 00:23:16 +00:00
Manohar Paluri	68159fb5e4	corrected SubgraphPreconditioner case	2010-01-02 20:24:59 +00:00