Mike Bosse
|
e9ae4f3c4d
|
stuck since LieMatrix uses dynamic matrices and hence not compatible with traits
|
2014-12-16 01:28:02 +01:00 |
|
Mike Bosse
|
3dc9a7c852
|
group_flavor in internal::LieGroup template
|
2014-12-15 23:48:30 +01:00 |
|
Mike Bosse
|
79ea949df9
|
added placeholder for needed numerical derivative test
|
2014-12-15 23:29:59 +01:00 |
|
Mike Bosse
|
07bcc18d43
|
fixed testTSAMFactors
|
2014-12-15 23:23:40 +01:00 |
|
Mike Bosse
|
30b21503b3
|
fixed size matrices for numerical derivatives
|
2014-12-15 16:11:28 +01:00 |
Paul Furgale
|
a8bd7281f3
|
Moving away from fixed-size matrices
|
2014-12-15 15:00:48 +01:00 |
|
Paul Furgale
|
cb7fb21add
|
Fixed the Eigen::Map compilation error
|
2014-12-15 11:13:42 +01:00 |
|
Mike Bosse
|
0857c1069c
|
traits for eigen matrices
|
2014-12-14 23:24:19 +01:00 |
|
Paul Furgale
|
0706caf173
|
Latest edits...started on Eigen types
|
2014-12-14 20:28:25 +01:00 |
|
Paul Furgale
|
c0e4f76d94
|
More manifolds...more numerical differentiation...more.
|
2014-12-14 18:59:57 +01:00 |
|
Paul Furgale
|
da4c44e12d
|
More progress
|
2014-12-14 15:26:43 +01:00 |
|
Paul Furgale
|
679c3fbd07
|
Even more slow progress
|
2014-12-14 14:02:27 +01:00 |
|
Paul Furgale
|
7f7c181945
|
Replaced ChartValue with GenericValue. Now at the point where we are bumping up against missing Jacobians in gtsam types. It feels like progress.
|
2014-12-14 12:13:59 +01:00 |
|
Paul Furgale
|
6b04fee048
|
Changed some lie groups to manifolds
|
2014-12-13 22:26:49 +01:00 |
|
Paul Furgale
|
58cb47a3f0
|
Started converting types. Into the ChartValue now.
|
2014-12-13 22:20:59 +01:00 |
|
Paul Furgale
|
959716ae92
|
A lot more progress making things work. Still a long way to go.
|
2014-12-13 12:47:52 +01:00 |
|
Mike Bosse
|
94c2490b6f
|
minor
|
2014-12-12 21:31:00 +01:00 |
|
Mike Bosse
|
df8dc1f99c
|
fixing little things... far from done
|
2014-12-12 21:12:17 +01:00 |
|
Paul Furgale
|
d383b44cc6
|
Trying to make everything compile for a smooth transition
|
2014-12-12 20:13:35 +01:00 |
|
Paul Furgale
|
02ceb1366b
|
Progress on compilation
|
2014-12-12 17:02:15 +01:00 |
|
Paul Furgale
|
91efa7f2a1
|
Added convenience traits wrapper for internal gtsam types
|
2014-12-12 16:42:33 +01:00 |
|
Mike Bosse
|
d94c8c72b8
|
cyclic trait refactored
|
2014-12-12 14:51:16 +01:00 |
|
Mike Bosse
|
edb1bbaa7b
|
quaternion trait refactored
|
2014-12-12 14:18:39 +01:00 |
|
Mike Bosse
|
cc9ab9c6ed
|
starting transition to kitchen sink trait class
|
2014-12-12 11:43:54 +01:00 |
|
Mike Bosse
|
6f992e623e
|
untabify
|
2014-12-12 10:06:43 +01:00 |
|
Paul Furgale
|
409214e165
|
Updated documentation
|
2014-12-11 16:28:32 +01:00 |
|
Paul Furgale
|
79086327a6
|
Making things in sync
|
2014-12-11 12:54:48 +01:00 |
|
Paul Furgale
|
24e1334e5a
|
Trying to update the concepts definition to reflect reality
|
2014-12-11 12:41:16 +01:00 |
|
Mike Bosse
|
376dec5103
|
cleaned up a bit; but not really working yet. Trouble with partial specialization of lie_group::expmap<Quaternion<> >()
|
2014-12-11 03:15:45 +01:00 |
dellaert
|
21b97ddedf
|
Removed obsolete methods (but link error!)
|
2014-12-09 01:04:21 +01:00 |
|
dellaert
|
449ba1f37a
|
LieGroupChart makes use of Exponential map (and its inverse) around identity
|
2014-12-09 00:52:53 +01:00 |
|
dellaert
|
3077d03568
|
Header should also be included in non-quaternion mode
|
2014-12-09 00:11:28 +01:00 |
|
dellaert
|
8fcf9d9866
|
SO(3) is a *Matrix* Lie group. This is it. Rot3 will inherit from this *or* Quaternion.
|
2014-12-09 00:11:28 +01:00 |
|
dellaert
|
118d561e96
|
Created GTSAM_GROUP_IDENTITY as it handles templates differently
|
2014-12-09 00:11:28 +01:00 |
|
Frank Dellaert
|
473bc1b703
|
Derivatives of Charts, and special Lie group treatment
|
2014-12-08 13:08:39 +00:00 |
|
dellaert
|
9dc3d28bf2
|
Now Rot3 uses QuaternionChart Expmap/Logmap in quaternion mode
|
2014-12-08 13:16:30 +01:00 |
|
dellaert
|
8cbab779b3
|
Slight refactor
|
2014-12-08 13:16:30 +01:00 |
|
dellaert
|
ccd843040e
|
Small change in file that might disappear anyway
|
2014-12-08 13:16:30 +01:00 |
|
Paul Furgale
|
2af04a8e41
|
Typo...
|
2014-12-08 10:26:04 +00:00 |
|
Frank Dellaert
|
fd9f5ae1ec
|
Clarified derivatives of group actions
|
2014-12-08 09:42:56 +00:00 |
|
Paul Furgale
|
2b1d907a74
|
More indentation fixes.
|
2014-12-08 08:55:14 +00:00 |
|
Paul Furgale
|
21596e1894
|
Making the indentation work in Markdown view.
|
2014-12-08 08:51:27 +00:00 |
|
dellaert
|
fd59783fae
|
Forgot to check in how to use macros...
|
2014-12-07 21:03:54 +01:00 |
|
dellaert
|
949a6b7f4c
|
Found solution for template arguments in macros. Requires a bit more from caller, but is better. I quite like the MACROS: It's compact...
|
2014-12-07 19:55:06 +01:00 |
|
dellaert
|
04d3457b45
|
First working Manifold macro
|
2014-12-07 19:30:46 +01:00 |
|
dellaert
|
62ae58e7ea
|
Quaternion header
|
2014-12-07 19:13:02 +01:00 |
|
dellaert
|
10ae9f5505
|
Easier to read with Cyclic<3>
|
2014-12-07 18:55:49 +01:00 |
|
dellaert
|
481be10509
|
A bit more compact
|
2014-12-07 18:55:33 +01:00 |
|
dellaert
|
9194b92cf6
|
Now work with MACROS instead - but get linking error. Upside (if we can fix that): uniform treatment between foreign types (see Quaternion) and GTSAM types (Cyclic). Downside: seems I had to create a different macro for different number of template arguments. Help?
|
2014-12-07 18:41:18 +01:00 |
|
dellaert
|
38a0842090
|
Macros. Too ugly?
|
2014-12-07 18:01:30 +01:00 |