Stephen Williams
|
9e39df6e88
|
Added PriorFactor and BetweenFactor with optional sensor pose
transformations. Ideally these should simply be the PriorFactor and
BetweenFactor, but more investigation is needed.
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2013-05-08 13:23:56 +00:00 |
|
Stephen Williams
|
bbf9bad6d7
|
Modified serialization of Vector and Matrix to support binary files
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2013-05-08 13:23:50 +00:00 |
|
Stephen Williams
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07c4c95f18
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Added serialization unit tests for binary files
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2013-05-08 13:23:46 +00:00 |
|
Stephen Williams
|
f68e301458
|
Wrapped Inverse Depth Factor variants
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2013-05-08 13:23:39 +00:00 |
|
Stephen Williams
|
54808f6d44
|
Added several experimental versions of an Inverse Depth Factor
|
2013-05-08 13:23:35 +00:00 |
|
Stephen Williams
|
5bd9ffc49e
|
Changed EquivNavFactor test from '.h' to '.cpp' so it will actually work
|
2013-05-08 13:23:27 +00:00 |
Alex Cunningham
|
e02d57f9cb
|
Fixed interface for summarization
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2013-05-08 10:14:27 +00:00 |
|
Alex Cunningham
|
4e0dbbc2b1
|
Added tests for each summarization mode
|
2013-05-08 10:14:19 +00:00 |
|
Alex Cunningham
|
c74de0136c
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Changed interface to allow for different modes
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2013-05-08 10:14:10 +00:00 |
|
Alex Cunningham
|
acd6e629e8
|
Moved older functions back to gtsam_unstable, cleanup. All tests pass. Rearranged summarization wrap interfaces.
|
2013-05-08 10:13:57 +00:00 |
|
Alex Cunningham
|
81f63bcc0e
|
Rearranging summarization, now with unit test in gtsam
|
2013-05-08 10:11:45 +00:00 |
|
Stephen Williams
|
3025c728ed
|
Added serialization code to robust noise models
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2013-05-06 22:52:06 +00:00 |
|
Alex Cunningham
|
31b0f70530
|
Moved utility functions and formatter from LabeledSymbol to Key. Added namespace functions
|
2013-05-03 16:21:47 +00:00 |
|
Stephen Williams
|
36e66b2f0b
|
Fixed synchronization code in ConcurrentBatchFilter such that an empty graph does not trigger a segfault
|
2013-05-01 20:54:53 +00:00 |
Duy-Nguyen Ta
|
444ab957c4
|
a numerical derivative version for DiscreteEulerPoincare'Factor, but currently disabled.
|
2013-05-01 17:30:21 +00:00 |
|
Alex Cunningham
|
9e2b11800a
|
Moved LabeledSymbol from MastSLAM with some key-related utilities
|
2013-04-30 18:41:06 +00:00 |
|
Alex Cunningham
|
62f6089119
|
Updated matlab wrapping for moved factors
|
2013-04-30 17:50:48 +00:00 |
|
Alex Cunningham
|
a069d24374
|
Moved PoseRotationPrior, PoseTranslationPrior and ReferenceFrameFactor to gtsam.slam
|
2013-04-30 17:50:47 +00:00 |
|
Duy-Nguyen Ta
|
84ababc653
|
wrap SimpleHelicopter factors and fix a bug in noisemodel dimension
|
2013-04-30 17:21:42 +00:00 |
|
Duy-Nguyen Ta
|
7256c88bbd
|
change Pose2::adjointMap and adjoint to Pose2::AdjointMap and Adjoint to make it consistent with Pose3 and standard Lie group notation
|
2013-04-30 17:20:23 +00:00 |
|
Duy-Nguyen Ta
|
723ff2c9ad
|
add GTSAM_POSE3_EXPMAP option to CMakeLists and config.h.in to let users specify POSE3_DEFAULT_COORDINATES_MODE before compilation.
|
2013-04-30 17:17:51 +00:00 |
|
Duy-Nguyen Ta
|
e4b29b8d8b
|
move print function to cpp file for LieVector to solve the "same-name-different-type" problem in matlab wrapper.
|
2013-04-30 17:15:42 +00:00 |
|
Duy-Nguyen Ta
|
26c63ec122
|
increase tolerance in TEST( testPoseRTV, Lie )
|
2013-04-29 23:35:08 +00:00 |
|
Duy-Nguyen Ta
|
104ad15e91
|
Separate adjointMap, which returns a matrix, and adjoint+adjointTranspose actions on a vector with optional derivatives. Also, change dExpInv_TLN to dExpInv_exp with higher order of approximation
|
2013-04-29 21:22:33 +00:00 |
|
Alex Cunningham
|
26f5f93c60
|
Added Pose3::align() for labeled correspondences. Fixed depreciated make targets.
|
2013-04-29 18:06:33 +00:00 |
|
Duy-Nguyen Ta
|
e4a9c398c8
|
Factor for Discrete Euler Poincare' equation in SE3 for Simple Helicopter dynamics with correct dertivatives
|
2013-04-29 17:21:13 +00:00 |
|
Alex Cunningham
|
224be276e4
|
Added a new summarization convenience function and cleaned up documentation
|
2013-04-26 18:27:22 +00:00 |
Richard Roberts
|
34730a92cc
|
Fixed problem with system eigen include path
|
2013-04-25 19:12:25 +00:00 |
|
Alex Cunningham
|
d8034f73c5
|
Added install commands for generated header files
|
2013-04-25 18:40:21 +00:00 |
|
Alex Cunningham
|
2b7d173c22
|
Added include path for generated headers when wrapping
|
2013-04-25 18:24:41 +00:00 |
|
Stephen Williams
|
009012005e
|
Removed VariableIndex from the class members as it was often left in an inconsistent state
|
2013-04-25 18:12:05 +00:00 |
|
Stephen Williams
|
1e1dfdd808
|
Updated BatchFixedLagSmoother to use the latest version of optimization and marginalization code
|
2013-04-25 18:10:21 +00:00 |
|
Richard Roberts
|
fe07dee964
|
Moved system eigen switch to top-level CMakeLists so that it's used in all files
|
2013-04-25 16:32:06 +00:00 |
|
Richard Roberts
|
58bade6aa3
|
Switched constants to macros to avoid unused variable warnings
|
2013-04-25 16:32:05 +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
|
5f3238634d
|
Added missing GTSAM_UNSTABLE_EXPORT tag
|
2013-04-25 15:57:06 +00:00 |
|
Alex Cunningham
|
38af960c53
|
removed commented line
|
2013-04-24 17:34:49 +00:00 |
|
Alex Cunningham
|
1c17065376
|
Removed unnecessary templated traits from partial pose priors - now uses rotationInterval and translationInterval
|
2013-04-24 17:34:48 +00:00 |
|
Richard Roberts
|
124a38f72d
|
Made unit test local vars/functions in anonymous namespace
|
2013-04-22 17:44:09 +00:00 |
|
Richard Roberts
|
dd84ffcc8e
|
Fix in Rot3Q constructor
|
2013-04-22 17:44:07 +00:00 |
|
Richard Roberts
|
bd38ae5c68
|
Added Alex as author
|
2013-04-22 17:44:06 +00:00 |
|
Richard Roberts
|
82c8fffd28
|
Added missing dllexport in LieScalar
|
2013-04-22 17:44:05 +00:00 |
|
Duy-Nguyen Ta
|
cde44b2952
|
Finally finish implementing the Reconstruction factor for updating the poses of holonomic vehicles using discrete variational integrators (eq. 10 in [Kobilarov09siggraph]). Also, better approximation for the derivative of the inverse expmap wrt the lie algebra in Pose3. Test with numericalderivative.
|
2013-04-22 08:34:40 +00:00 |
|
Duy-Nguyen Ta
|
b1b05887fc
|
allow method starting with uppercase letter to be wrapped in matlab. Wrap Pose3's AdjointMap and Adjoint operator
|
2013-04-21 19:29:41 +00:00 |
|
Duy-Nguyen Ta
|
96f9ecaf53
|
Change "adjoint" and "adjoint_map" to Adjoint and Adjoint_map, since they correspond to Lie group's Ad operator. Implement the Lie algebra's adjoint operator, aka Lie bracket, and the inverse right-trivialized tangent map of the exponential map using the trapezoidal Lie-Newmark scheme, as detailed in [Kobilarov09siggraph]
|
2013-04-21 05:50:07 +00:00 |
|
Stephen Williams
|
c1f14d60be
|
Purged unused code
|
2013-04-19 12:16:18 +00:00 |
|
Stephen Williams
|
201ca3da9e
|
Removed debug print statement
|
2013-04-19 12:16:04 +00:00 |
|
Stephen Williams
|
3eade960b8
|
Fixed bugs in marginal generation. It is possible that the marginalization will be "perfect", resulting in no marginal factor. However, a factor was being created anyway.
|
2013-04-19 12:13:43 +00:00 |
|
Stephen Williams
|
584f5c6c8c
|
Fixed typos in class names
|
2013-04-18 21:01:44 +00:00 |
|
Alex Cunningham
|
88d3def0db
|
Added assert_inequal for matrices
|
2013-04-18 18:12:37 +00:00 |