dellaert
|
449ba1f37a
|
LieGroupChart makes use of Exponential map (and its inverse) around identity
|
2014-12-09 00:52:53 +01:00 |
Luca
|
dc13912ce2
|
moved jacobian computation to updateMeasurement functions, and fixed noise propagation. Luca&Christian: insight is that preintegration noise acts on rotations as R * expmap(noise), while before it was expmap( logmap(R) + noise)
|
2014-12-08 18:41:39 -05:00 |
|
Luca
|
02f92e4e04
|
included Jacobian of logmap in quaternion mode
|
2014-12-08 18:39:47 -05:00 |
|
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 |
Sungtae An
|
c5b4d731cc
|
Correct Yond-Dian's name
|
2014-12-08 18:03:40 -05:00 |
|
Luca
|
54ee973309
|
changed naming in comments about expmap & logmap jacobians
|
2014-12-08 16:27:57 -05:00 |
|
Luca
|
f991c1a398
|
getting rid of rightJacobianSO3 (not completed yet)
|
2014-12-08 13:15:51 -05:00 |
|
Luca
|
422db08c69
|
included Jacobian for logmap and expmap, with unit tests (Note: only implemented for Rot3M, this will not work in quaternion mode)
|
2014-12-08 12:31:02 -05:00 |
|
Luca
|
d5d7594888
|
deleted hard-coded function from IMU unit test
|
2014-12-08 12:31:02 -05:00 |
Chris Beall
|
fbcb9a4d67
|
Fix intermittent optimization crash in Debug+TBB modes, exposed by testGeneralSFMFactor, etc.
|
2014-12-08 10:59:49 -05:00 |
lvzhaoyang
|
6d97b8d3db
|
Small fix of IMUKittiExampleAdvanced. Now the same priorFactor issue
|
2014-12-08 10:41:52 -05:00 |
|
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 |
|
Sungtae An
|
0a1e844ae5
|
Clean up
|
2014-12-08 00:44:36 -05:00 |
|
Sungtae An
|
f6dd14126d
|
Revert commits related with fixing PCG (reverted from commit 1f827fae43)
|
2014-12-07 18:26:09 -05:00 |
|
Luca
|
2730dab4c6
|
made test more serious and easy to understand
|
2014-12-07 15:04:10 -05:00 |
|
dellaert
|
fd59783fae
|
Forgot to check in how to use macros...
|
2014-12-07 21:03:54 +01:00 |
|
Luca
|
ab54ca1697
|
addressed some of Frank's comments
|
2014-12-07 15:03:48 -05:00 |
|
Luca
|
aee20d669d
|
removed useless comments, added other comments
|
2014-12-07 13:58:13 -05:00 |
|
cbeall3
|
cd35db218b
|
Minor cleanup
|
2014-12-07 13:58:06 -05:00 |
|
cbeall3
|
b58064ce43
|
Stereo calibration can now be optimized
|
2014-12-07 13:58:06 -05:00 |
|
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 |
|
cbeall3
|
971a53cfb5
|
Fixed size vectors for all Logmap, localcoordinates and vector methods
|
2014-12-07 13:51:17 -05:00 |
|
dellaert
|
04d3457b45
|
First working Manifold macro
|
2014-12-07 19:30:46 +01:00 |
|
Luca
|
6d571ca6b9
|
truth revealing unit test :-) re-established good functioning of IMU factor (TODO: fix CombinedImuFactor F & G)
|
2014-12-07 13:14:45 -05:00 |
|
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 |
|
cbeall3
|
bfd40014a2
|
comma initialization
|
2014-12-07 12:38:36 -05:00 |
|
dellaert
|
38a0842090
|
Macros. Too ugly?
|
2014-12-07 18:01:30 +01:00 |
|
dellaert
|
19c38b91ee
|
Finish CRTP in Cyclic
|
2014-12-07 15:59:31 +01:00 |
|
dellaert
|
ef58a8a56a
|
Attempt at satisfying Group concept by deriving from base class. Needs to be fixed, also, test does not link :-(
|
2014-12-07 13:24:59 +01:00 |
|
dellaert
|
022e930085
|
Fixed typo
|
2014-12-07 13:23:59 +01:00 |
|
dellaert
|
e0e2a9b063
|
Eigen::Quaternions now satisfy IsManifold, IsGroup, and IsLieGroup! Also reverted back to a simpler treatment of Charts.
Merge branch 'traits/quaternion' into feature/tighteningTraits
|
2014-12-07 13:06:32 +01:00 |
|
dellaert
|
cdc0029158
|
Reverted on Chart base class. But no chart-specific traits needed, as assumed created by us.
|
2014-12-07 13:01:25 +01:00 |
|
dellaert
|
a31e596448
|
Working local/Logmap (taken from Rot3Q)
|
2014-12-07 12:47:26 +01:00 |
|
dellaert
|
36da8702f9
|
Retract works
|
2014-12-07 12:35:17 +01:00 |
|
dellaert
|
8db8cb54b0
|
Some chart refinement (early check does not work)
|
2014-12-07 12:35:05 +01:00 |
|
dellaert
|
e2f250c160
|
Added Manifold, Lie Group, and Vector Space concepts back in
|
2014-12-07 11:52:09 +01:00 |
|
dellaert
|
01aab77504
|
Made Testable a boost concept
|
2014-12-07 11:51:40 +01:00 |
|
dellaert
|
187760ce95
|
Refactor for readability
|
2014-12-07 10:20:54 +01:00 |