Duy-Nguyen Ta
|
f3b97ed2c2
|
fix header
|
2015-09-17 11:27:37 -04:00 |
|
Duy-Nguyen Ta
|
75abc90a90
|
Informative derivative names. Only compute if need to.
|
2015-09-16 08:24:17 -04:00 |
|
Duy-Nguyen Ta
|
7f19e2ea86
|
ImuFactor Jacobian test passed.
Need to integrate at least two IMU measurements to get information on the position
|
2015-09-15 11:14:45 -04:00 |
|
Duy-Nguyen Ta
|
704411de4e
|
MonteCarlo test passed for body_P_sensor case. Unittests for Jacobians of updatedDeltaXij. Code to verify statistics and nonlinearity of generated samples.
|
2015-09-10 23:13:35 -04:00 |
|
Duy-Nguyen Ta
|
f59c442fb3
|
non-isotropic diagonal noises to check the effect of body_R_sensor. Predefine seeds for random samplers
|
2015-09-10 23:07:45 -04:00 |
|
Duy-Nguyen Ta
|
c9fae14a98
|
correct Jacobians for body_P_sensor case, including derivative for centripetal acc
|
2015-09-10 23:03:59 -04:00 |
|
Duy-Nguyen Ta
|
e01fc2da03
|
use mt19937_64 generator
|
2015-09-10 22:59:44 -04:00 |
|
Duy-Nguyen Ta
|
9f91aedd6a
|
test centrifugal derivative
|
2015-09-02 16:52:54 -04:00 |
dellaert
|
a4e58d06e7
|
Tighter bounds
|
2015-08-26 20:19:26 -07:00 |
|
dellaert
|
08fcf65eb7
|
Merge remote-tracking branch 'origin/develop' into feature/cleanup_ImuFactor
|
2015-08-24 15:16:26 -07:00 |
|
dellaert
|
cf5f859679
|
Boost optional for sensor pose
|
2015-08-24 15:15:57 -07:00 |
|
Frank Dellaert
|
9e71ad793b
|
Merged in enriquefernandezperdomo/gtsam/add_dcs_robust_kernel (pull request #180)
Add DCS robust kernel
|
2015-08-21 13:41:31 -07:00 |
Enrique Fernandez
|
b9c63ef5df
|
Fix and optimize DCS
|
2015-08-20 16:03:56 -04:00 |
|
Enrique Fernandez
|
44ae7bfe01
|
Fix generalized Geman-McClure
|
2015-08-20 16:03:56 -04:00 |
|
Enrique Fernandez
|
6cdc1de268
|
Use fabs in Huber condition
|
2015-08-20 15:45:12 -04:00 |
|
Enrique Fernandez
|
47d787b478
|
Add DCS & Geman-McClure unit tests
|
2015-08-18 22:46:36 -04:00 |
|
Enrique Fernandez
|
2969d61519
|
Add Geman-McClure robust kernel
|
2015-08-18 22:46:36 -04:00 |
|
Enrique Fernandez
|
7d256ff2fb
|
Add DCS robust kernel
DCS (Dynamic Covariance Scaling) from Robust Map Optimization (Agarwal13icra)
|
2015-08-18 22:46:36 -04:00 |
Chris Beall
|
2146eb1b45
|
Merged in enriquefernandezperdomo/gtsam/fix_load2D_modelInFile (pull request #179)
Fix use model in file, in load2D
|
2015-08-11 21:17:37 -04:00 |
|
Enrique Fernandez
|
fdacba92c5
|
Fix use model in file, in load2D
|
2015-08-11 15:25:35 -04:00 |
|
Duy-Nguyen Ta
|
2d251c6411
|
make one MC test passed by using non-zero random seeds and increasing the number of samples
|
2015-08-10 21:03:21 -04:00 |
Luca
|
90ea83aa38
|
printing covariance
|
2015-08-10 19:30:25 -04:00 |
|
Luca
|
7bb819437f
|
added comments
|
2015-08-10 19:29:55 -04:00 |
|
dellaert
|
7fc1befdca
|
Two different random seeds for better Monte-Carlo
|
2015-08-09 11:43:26 -07:00 |
|
dellaert
|
a3032fe367
|
Params::print, and comments
|
2015-08-09 11:23:34 -07:00 |
|
dellaert
|
887c0d8f59
|
Added .cpp file and a print for parameters
|
2015-08-09 11:23:12 -07:00 |
|
dellaert
|
9af69254b2
|
Refactored arm correction but there is still a difference in regression values. Did I introduce a bug?
|
2015-08-04 08:31:47 -07:00 |
|
dellaert
|
3ae998d31d
|
Renamed to make frame clear
|
2015-08-04 07:32:10 -07:00 |
|
dellaert
|
18d0966630
|
more Monte Carlo
|
2015-08-01 17:21:34 -07:00 |
|
dellaert
|
b8f05e1e35
|
More tests
|
2015-08-01 17:21:15 -07:00 |
|
dellaert
|
f8df938b30
|
New naming, old derivative code
|
2015-08-01 17:17:23 -07:00 |
|
dellaert
|
7224162e60
|
More Monte Carlo...
|
2015-07-31 21:04:16 -07:00 |
|
dellaert
|
b26bfb27ac
|
Removed F/G tests: derivatives no longer matched and are checked at a lower level anyways.
|
2015-07-31 15:42:22 -07:00 |
|
dellaert
|
7901077a7a
|
refactoring F and G
|
2015-07-31 15:32:16 -07:00 |
|
dellaert
|
8aca431913
|
const update method
|
2015-07-31 15:31:45 -07:00 |
|
dellaert
|
325ede23fe
|
BIG: switch to NavState delta pose
|
2015-07-31 15:08:12 -07:00 |
|
dellaert
|
e3d36da188
|
Switched argument order
|
2015-07-31 13:33:23 -07:00 |
|
dellaert
|
628a4cc4cc
|
Removed inheritance from PreintegratedRotation
|
2015-07-31 11:43:53 -07:00 |
|
dellaert
|
dd468ab495
|
Inlined rotation part
|
2015-07-31 11:31:01 -07:00 |
|
dellaert
|
c40ffa0174
|
Some more documentation
|
2015-07-31 06:37:39 -07:00 |
|
dellaert
|
3cdf8973d4
|
Monte Carlo analysis
|
2015-07-30 22:50:06 -07:00 |
|
dellaert
|
91eeede05a
|
Better documentation, and conditional evaluation of derivatives
|
2015-07-30 21:55:40 -07:00 |
|
dellaert
|
2ad50ab86e
|
More efficient derivatives
|
2015-07-30 09:48:00 -07:00 |
|
dellaert
|
cefc441fba
|
bodyVelocity and working update derivatives
|
2015-07-30 09:39:25 -07:00 |
|
dellaert
|
13f8935c52
|
update prototype
|
2015-07-30 08:05:39 -07:00 |
|
dellaert
|
9c35c931f6
|
Modernized test
|
2015-07-29 21:53:18 -07:00 |
|
dellaert
|
7149b8ee42
|
Avoid duplicate calculation of D_acc_R
|
2015-07-29 21:21:03 -07:00 |
|
dellaert
|
e5ace26d5f
|
Split method in const and non-const part
|
2015-07-29 21:04:11 -07:00 |
|
dellaert
|
d0467c53dd
|
Use PreintegratedRotation::integrateMeasurement
|
2015-07-29 20:40:19 -07:00 |
|
dellaert
|
aebe8161dd
|
Strengthened AHRS tests
|
2015-07-29 16:14:42 -07:00 |