Luca
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aee20d669d
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removed useless comments, added other comments
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2014-12-07 13:58:13 -05:00 |
cbeall3
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cd35db218b
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Minor cleanup
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2014-12-07 13:58:06 -05:00 |
|
cbeall3
|
b58064ce43
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Stereo calibration can now be optimized
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2014-12-07 13:58:06 -05:00 |
|
cbeall3
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971a53cfb5
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Fixed size vectors for all Logmap, localcoordinates and vector methods
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2014-12-07 13:51:17 -05:00 |
|
Luca
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6d571ca6b9
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truth revealing unit test :-) re-established good functioning of IMU factor (TODO: fix CombinedImuFactor F & G)
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2014-12-07 13:14:45 -05:00 |
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cbeall3
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bfd40014a2
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comma initialization
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2014-12-07 12:38:36 -05:00 |
|
Luca
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792d2656d0
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using cross product instead of skewSymm matrix in predict
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2014-12-06 19:13:02 -05:00 |
|
Luca
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d46224e8a1
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added const and changed name in updatePreintegratedMeasurements to "omegaCoriolisHat" to comply with notation in "predict"
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2014-12-06 19:04:41 -05:00 |
krunalchande
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943a18b124
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Fixed confusion in naming.
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2014-12-06 17:42:07 -05:00 |
Frank Dellaert
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8cc26c759d
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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
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2014-12-05 22:54:36 +01:00 |
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dellaert
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468aa5d6b6
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Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives
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2014-12-05 22:23:12 +01:00 |
nsrinivasan7
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a5877a96b8
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@dellaert. Works with quaternion switch on in gcc 4.7, 4.8 and MSVC 2012. Pls Merge if compiles on MAC
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2014-12-05 16:01:10 -05:00 |
Sungtae An
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47396871a3
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Slightly modify some comments
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2014-12-05 15:43:26 -05:00 |
|
Sungtae An
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1c9a1f7cdb
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Add the citation of the reference.
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2014-12-05 15:33:22 -05:00 |
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cbeall3
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a7b61373a9
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Fix include path for moved Autodiff stuff
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2014-12-05 13:52:49 -05:00 |
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Natesh Srinivasan
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f5db91a56f
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works on gcc 4.8
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2014-12-05 11:08:13 -05:00 |
|
dellaert
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4e6534eff7
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Tried to harmonize AHRS and IMU handling of coriolis term (but they are inconsistent)
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2014-12-05 13:52:51 +01:00 |
|
dellaert
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aa93475b3d
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Moved two very large methods from ImuFactorBase to PreintegrationBase
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2014-12-05 13:24:03 +01:00 |
|
dellaert
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8bfe4d75fb
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Possibly controversial (sorry @lucacarlone ) name change to make it easier to see copy/paste patterns.
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2014-12-05 12:36:14 +01:00 |
|
dellaert
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ac8e4d2536
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Made PreintegratedRotation a base class of PreintegrationBase
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2014-12-05 12:17:08 +01:00 |
|
dellaert
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507979c526
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PreintegratedRotation works for AHRS
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2014-12-05 12:12:54 +01:00 |
|
dellaert
|
37e6b796ec
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Slightly edited and re-formatted comments
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2014-12-05 09:29:00 +01:00 |
|
dellaert
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cc03a13f5f
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check.navigation target
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2014-12-05 09:28:40 +01:00 |
|
Sungtae An
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06b82ce3e3
|
Clean up the code
|
2014-12-04 23:30:27 -05:00 |
|
Sungtae An
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cfb82d9a96
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Modify some comments
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2014-12-04 23:30:17 -05:00 |
|
Sungtae An
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55b8ecf8fa
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Removed the commented old version of Yong-Dian's code for getb
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2014-12-04 23:29:12 -05:00 |
|
Sungtae An
|
558bee685e
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Remove tests associated with older version (Yong-Dian) of BlockJacobiPreconditioner::build
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2014-12-04 22:57:44 -05:00 |
|
Sungtae An
|
7760a802ab
|
Remove tests using deprecated testable functions (getBuffer, getBufferSize)
|
2014-12-04 22:33:53 -05:00 |
|
Sungtae An
|
4777c029ac
|
Remove temporary testable functions (getBuffer and getBufferSize)
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2014-12-04 22:32:07 -05:00 |
|
Sungtae An
|
c2b5b152a4
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Change the noise model as non-isotropic in the test of PCG solver with a simple linear system
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2014-12-04 22:14:46 -05:00 |
|
Sungtae An
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60f43c7a4b
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Fix a bug in getb and replace it with negated values of gradientAtZero. Add some comments about a bug.
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2014-12-04 22:08:26 -05:00 |
|
Luca
|
83d84bcc29
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removed last redundancy between error computation and predict
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2014-12-04 16:56:55 -05:00 |
|
Luca
|
c1d63b77ff
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added comments, made more elegant error evaluation for CombinedImuFactor
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2014-12-04 16:35:40 -05:00 |
|
Luca
|
30810e2917
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moved error and jacobian computation to base class
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2014-12-04 16:18:33 -05:00 |
|
Frank Dellaert
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4e5fe7bae2
|
Merged in fix/deprecateLieVectorEtAl (pull request #62)
Deprecated LieVector, LieMatrix, LieScalar
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2014-12-04 22:18:01 +01:00 |
|
dellaert
|
02075b7575
|
Moved to project
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2014-12-04 21:08:31 +01:00 |
|
dellaert
|
4fd2a288a2
|
Expressions now require OptionalJacobian
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2014-12-04 21:08:15 +01:00 |
|
dellaert
|
96016edf85
|
Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives
Conflicts:
.cproject
|
2014-12-04 21:07:34 +01:00 |
|
Luca
|
95baccb3b4
|
moved error and jacobian computation for ImuFactor to base class
|
2014-12-04 12:44:14 -05:00 |
|
cbeall3
|
53a24ed93a
|
Add EIGEN_INITIALIZE_MATRICES_BY_NAN to Debug mode to resolve issue #184.
|
2014-12-04 12:40:11 -05:00 |
|
cbeall3
|
30c4092d80
|
Move AdaptAutodiff and test to close issue #142
|
2014-12-04 12:15:53 -05:00 |
|
Luca
|
9f7fbdc530
|
fixed unit tests
|
2014-12-04 12:14:37 -05:00 |
|
Luca
|
26ca8a5bb4
|
fixed matlab wrapper
|
2014-12-04 12:13:08 -05:00 |
|
Luca
|
7b43d5c943
|
fixed naming convention
|
2014-12-04 12:10:40 -05:00 |
|
Luca
|
7a9a8dd9d6
|
moved prediction to base class
|
2014-12-04 12:09:13 -05:00 |
|
Luca
|
1992cb27ba
|
added ImuFactorBase. In the process of moving stuff to base class
|
2014-12-04 11:51:31 -05:00 |
|
Frank Dellaert
|
4cef8ce76c
|
Merged in feature/3rdpartyCeres (pull request #65)
Third party ceres autodiff
|
2014-12-04 17:46:21 +01:00 |
|
Luca
|
523ebb7b6f
|
moved TriangulationFactor to slam folder
|
2014-12-04 11:18:26 -05:00 |
|
nsrinivasan7
|
bd6f210b87
|
changed << to =. gives error because range() was removed from PinholeCamera.h ?
|
2014-12-04 09:36:00 -05:00 |
|
dellaert
|
f7ebe4bfc4
|
Fixed RangeFactor
|
2014-12-04 14:08:46 +01:00 |