Luca
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af04b834b9
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using fixed-size matrix/vector when possible
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2014-12-11 11:28:43 -05:00 |
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Luca
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c4fafd9268
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added unit test, improved computation
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2014-12-11 11:06:47 -05:00 |
Sungtae An
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c1f048dc42
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Merged in featrue/fixPCG (pull request #67)
Fixed PCG solver
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2014-12-11 10:36:47 -05:00 |
Paul Furgale
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409214e165
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Updated documentation
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2014-12-11 16:28:32 +01:00 |
dellaert
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a9121fc3fc
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Now it's super-easy to create priors on pieces of state.
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2014-12-11 13:45:15 +01:00 |
|
dellaert
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31ca0d76db
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Added unary version
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2014-12-11 13:44:47 +01:00 |
|
dellaert
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cedf2647d2
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Use handy dandy Factor Factory
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2014-12-11 13:19:37 +01:00 |
|
dellaert
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29dc382c22
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Fixed small bug
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2014-12-11 13:19:19 +01:00 |
|
dellaert
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f588a3928a
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Added handy dandy Factor Factory
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2014-12-11 13:19:08 +01:00 |
|
dellaert
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96d4ae7eb1
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Removed LieScalar
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2014-12-11 13:18:52 +01:00 |
|
dellaert
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88b4795b29
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Made some more typedefs, added binary method
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2014-12-11 13:18:38 +01:00 |
|
Paul Furgale
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79086327a6
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Making things in sync
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2014-12-11 12:54:48 +01:00 |
|
Paul Furgale
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24e1334e5a
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Trying to update the concepts definition to reflect reality
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2014-12-11 12:41:16 +01:00 |
Mike Bosse
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376dec5103
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cleaned up a bit; but not really working yet. Trouble with partial specialization of lie_group::expmap<Quaternion<> >()
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2014-12-11 03:15:45 +01:00 |
|
Luca
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9dbca87c86
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fixed evaluate error to compy with additive Gaussian noise model. Still to be optimized, but unit tests pass :-)
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2014-12-10 20:51:26 -05:00 |
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Luca
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1dfd9d2ae7
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cleaned up unit test
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2014-12-10 16:56:31 -05:00 |
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Luca
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36358308fd
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minor code optimization in ExpmapDerivative
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2014-12-10 16:56:21 -05:00 |
|
dellaert
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d37216cde3
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TOAFactor header
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2014-12-10 22:50:41 +01:00 |
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Luca
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b3f0f3877c
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capitalized ExpmapDerivative and LogmapDerivative
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2014-12-10 16:16:29 -05:00 |
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dellaert
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bb00e375da
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Print for MATLAB
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2014-12-10 21:44:56 +01:00 |
|
dellaert
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dc84b6589e
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Added in real experimental data gathered by Jay at KU Leuven
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2014-12-10 21:12:38 +01:00 |
|
dellaert
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d17caa5487
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Event header and test file
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2014-12-10 19:14:18 +01:00 |
|
dellaert
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5d6e0bc753
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Optimization test succeeds, but only with 5th microphone...
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2014-12-10 19:00:52 +01:00 |
|
dellaert
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2dcbc72d8d
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Derivatives work !!!
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2014-12-10 17:58:35 +01:00 |
|
dellaert
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0ceb09262c
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Put in prototype derivatives, needs unit test
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2014-12-10 16:06:34 +01:00 |
|
dellaert
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cca1a54544
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Everything done, except derivatives !!!
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2014-12-10 16:02:13 +01:00 |
|
dellaert
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d54c70202a
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TOAFactor compiles and can be put into a factor graph
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2014-12-10 15:43:31 +01:00 |
|
dellaert
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ba1a2685bc
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Not-working yet, but lots of progress towards TOAFactor
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2014-12-10 15:10:59 +01:00 |
|
dellaert
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5ce007446d
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Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
Conflicts:
.cproject
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2014-12-10 14:47:58 +01:00 |
|
dellaert
|
777aa005b4
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Developing time of arrival factor with Jay at KU Leuven
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2014-12-10 14:24:10 +01:00 |
|
dellaert
|
22218eafc4
|
We will not wrap fixed Vectors and Matrices individually. Methods that take those can just as well be wrapped with Vector or Matrix. Note const and & are ignored for those. I added a small method, insertFixed, that allows one to put in small fixed size matrices for optimization. Did not do retrieval yet.
|
2014-12-10 10:45:22 +01:00 |
|
Sungtae An
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e9b0f7b98f
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Change Cholesky decomposed matrix from 'Upper' to 'Lower' in order to avoid confusion.
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2014-12-10 02:55:40 -05:00 |
thduynguyen
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ba903536c8
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fix ACTIVE/INACTIVE constants as Frank suggested
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2014-12-09 22:29:21 -05:00 |
|
thduynguyen
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565eb99948
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remove a TODO as it's done.
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2014-12-09 22:28:39 -05:00 |
|
Luca
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57d83be48a
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matrix definition on same line
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2014-12-09 19:05:14 -05:00 |
|
Luca
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b96a463b10
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ok, fixed updatePreintegratedMeasurements with optionalJacobian
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2014-12-09 18:32:38 -05:00 |
|
Luca
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d809a952df
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started to include optionalJacobian: compiles after merge to develop and all unit tests pass
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2014-12-09 18:03:54 -05:00 |
|
Luca
|
bf8de1341b
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Merge branch 'develop'
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2014-12-09 17:13:30 -05:00 |
|
Luca
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e82b815a48
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renamed right jacobian of expmap and logmap (removed "right", according to Frank's suggestion :-)
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2014-12-09 17:10:04 -05:00 |
|
Luca
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1e8402231c
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applied (to some extend) the naming convention proposed by Frank
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2014-12-09 16:59:30 -05:00 |
|
Luca
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b593a6a2d5
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removing redundant lines and using jacobian computation from base class
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2014-12-09 16:41:29 -05:00 |
|
Luca
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5f17e1fb98
|
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)
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2014-12-09 16:34:43 -05:00 |
|
thduynguyen
|
85397223ef
|
fix QPSolver unit tests
|
2014-12-09 16:27:11 -05:00 |
|
thduynguyen
|
9b418c98ca
|
fix LPSolver unittest
|
2014-12-09 16:26:19 -05:00 |
|
Luca
|
013c8a4cef
|
added extra test on covariance propagation
|
2014-12-09 16:05:39 -05:00 |
|
Luca
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d22868d524
|
removed multiple definitions of trivial matrices (eye,zero)
|
2014-12-09 15:55:24 -05:00 |
|
Luca
|
2c1d72e7d7
|
tested Jacobians computation (G) for combined IMU factor
|
2014-12-09 15:50:41 -05:00 |
|
Luca
|
53b59bf488
|
added truth revealing unit test for Combined Imu factor (and fixed latest changes, that, moving updatePreintegratedMeasurements before, were creating a bug)
|
2014-12-09 15:17:26 -05:00 |
|
Frank Dellaert
|
2d231edd1b
|
Merged in fix/windowsExpressions (pull request #69)
Windows Fixes
|
2014-12-09 19:06:02 +01:00 |
Andrew Melim
|
1e778cf77b
|
No longer need to cast function pointers for expressions on Windows, with Optional Jacobian
|
2014-12-09 11:53:35 -05:00 |