fa954ab55e
Added version of transform_from and transform_to to Pose3 with optional derivatives
2010-05-18 14:51:09 +00:00
26304b749a
MAJOR: I made the correct Pose3 expmap the default. It turns out that all but the transform_to derivatives were in fact correct (and I fixed transform_to based on new math in math.lyx), but there was still a wrong expmap and logmap in the header file that I forgot about. I now moved those the te cpp file. The new code, which executes a correct "screw motion" for the exponential map, is now linked in by default. If you want the old, incorrect behavior, configure with FASTER_BUT_INCORRECT_EXPMAP defined. Note that the old code is faster per expmap, but *converges* faster (and to a deeper minimum) and hence is faster overall in many cases.
2010-03-11 21:52:24 +00:00
43df7375c0
add helper functions
2010-03-05 00:55:36 +00:00
707627fb3a
Rot2 "named constructors" ( http://www.parashift.com/c++-faq-lite/ctors.html#faq-10.8 ):
...
/** Named constructor from angle == exponential map at identity */
static Rot2 fromAngle(double theta) { return Rot2(cos(theta),sin(theta));}
/** Named constructor from cos(theta),sin(theta) pair, will *not* normalize! */
static Rot2 fromCosSin(double c, double s);
/** Named constructor that behaves as atan2, i.e., y,x order (!) and normalizes */
static Rot2 atan2(double y, double x);
which are a bit more verbose, but at least won't cause hours of bug-tracking :-(
I also made most compose, inverse, and rotate functions into methods, with the global functions mostly calling the methods. Methods have privileged access to members and hence are typically much more readable.
2010-03-03 03:31:53 +00:00
190e87afb9
Correct exmap is indeed correct, but derivatives *still* do not check out. I'm starting to suspect numericalDerivative.
2010-03-02 17:56:26 +00:00
1093317fdc
wedge
2010-03-02 02:25:27 +00:00
20ac6b85c8
Added static dim() functions to remaining geometry types so that dimensions can be calculated on size alone.
2010-03-01 21:56:13 +00:00
696be0d0c1
RETURN CONST REFERENCES WHERE YOU CAN and some inlining
2010-02-24 06:14:43 +00:00
3c9c8bcfe5
Pose2Prior is now a typedef, improved some derivatives
2010-01-16 16:46:57 +00:00
a956c1a8be
svn restored from 1733.
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this commit updates gtsam to version 1774, which now appears as 1734.
2010-01-16 01:16:59 +00:00
1dcc864d97
Comment cleanup to /** style and adding global print functions
2010-01-10 22:41:23 +00:00
43b2facd10
Now Pose3Config == LieConfig
2010-01-10 14:59:39 +00:00
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
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
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
ac72d1cc22
renamed transformPose_to to transform_to, composeTransform to compose, and changed nr. of arguments of Dtransform_to2 (to two)
2009-12-18 05:36:53 +00:00
d61d92c0e7
UrbanGraph class and testUrbanGraph TODOs
2009-12-17 21:23:50 +00:00
11f0d04cb6
made all classes that currently have an assert_equal "Testable"
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- derive from testable as in class Point2 : Testable<Point2>
- moved print and equal declarations in .h right after the constructor
- similarly, moved implementations after constructors in .cpp file
- removed obsolete assert_equal
2009-10-26 19:26:51 +00:00
d5dc9ab9d1
Composition is faster, composeTransform is trivial (and should probably go)
2009-09-14 04:38:17 +00:00
34d80b6a2b
moved some implementations to cpp to avoid some weird conflict involving stack
2009-08-30 04:51:46 +00:00
ea0e16caf5
Formatting only
2009-08-29 01:22:37 +00:00
6a3d64c896
Added const verifiers for member functions of the class which are compatible
2009-08-26 18:04:52 +00:00
d80fa24a9f
Fixing directory structure
2009-08-21 22:23:24 +00:00
Alex Cunningham
Frank Dellaert
Yong-Dian Jian
Chris Beall
Richard Roberts
Viorela Ila
Brian Law
Manohar Paluri