dellaert
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c6b68e6795
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No more second-order integration flag
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2015-07-23 17:08:19 +02:00 |
|
dellaert
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0bb73bae9e
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Comments
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2015-07-23 16:59:26 +02:00 |
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dellaert
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de76314488
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Straight line example, including finding defect in using first-order approximation
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2015-07-23 14:21:29 +02:00 |
|
dellaert
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85085e882d
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Removed Lie tests (now in testNavState)
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2015-07-22 22:24:53 +02:00 |
|
dellaert
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a99911b997
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Now uses NavState::predict !
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2015-07-22 22:24:19 +02:00 |
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dellaert
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7ccfb95339
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Favor fields not methods
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2015-07-22 22:23:14 +02:00 |
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dellaert
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9b3c051ca1
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Fied argument types
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2015-07-22 22:22:31 +02:00 |
|
dellaert
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a098289861
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Moved fields to protected
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2015-07-22 22:22:05 +02:00 |
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dellaert
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8ae4e2afd9
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A fully functioning predict from preintegrated tangent vector
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2015-07-22 17:46:03 +02:00 |
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dellaert
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2a38ed9603
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Additive version for coriolis forces
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2015-07-22 01:01:19 -04:00 |
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dellaert
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eb42a57860
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Merge branch 'regression_test' into feature/NavState_new_retract
Conflicts:
gtsam/navigation/tests/testImuFactor.cpp
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2015-07-22 00:42:06 -04:00 |
|
dellaert
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0ced228413
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Regression test for predict with arbitrary measurements
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2015-07-22 00:36:32 -04:00 |
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dellaert
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a9b4cdbe47
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coriolis now lives in NavState
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2015-07-22 00:19:08 -04:00 |
|
dellaert
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4c177c0ce2
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unrotate now defined for vector
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2015-07-21 18:28:31 -04:00 |
|
dellaert
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4dbe5e68d2
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Component access derivatives
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2015-07-21 18:28:02 -04:00 |
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dellaert
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2dd7987478
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Working AdjointMap and hence also derived derivatives of retract/localCoordinates
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2015-07-21 16:25:58 -04:00 |
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dellaert
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2dbad989d1
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Working Logmap !
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2015-07-21 16:09:56 -04:00 |
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dellaert
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c7bc497014
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Working Expmap
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2015-07-21 11:36:28 -07:00 |
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dellaert
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1a47a334de
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Deal with changes in Rot3
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2015-07-21 11:23:42 -07:00 |
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dellaert
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4c8c669d71
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Moved NavState to its own header and totally revamped as a semi-direct product
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2015-07-21 11:23:24 -07:00 |
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dellaert
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205d20d4dc
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Rot3 action on Vector3, and templated constructor
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2015-07-21 11:22:49 -07:00 |
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dellaert
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8a8503ee33
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New retract. Still some bug in derivative
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2015-07-20 21:40:58 -07:00 |
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dellaert
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814c170caa
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Added reference, made documentation consistent
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2015-07-20 20:57:47 -07:00 |
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dellaert
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6496bd49ed
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Separate and much simplified computeError works
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2015-07-20 09:16:57 -07:00 |
cbeall3
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02c7b2b81d
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made more generic, and comments
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2015-07-20 11:46:18 -04:00 |
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cbeall3
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5e660198b6
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make more generic so it can be used with StereoCamera, too
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2015-07-20 11:45:54 -04:00 |
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cbeall3
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7ae31bd8e7
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delete some unused stuff
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2015-07-20 11:43:57 -04:00 |
|
dellaert
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1ce6ab893d
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predict derivative works !
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2015-07-20 00:58:41 -07:00 |
|
dellaert
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3a941a0ef4
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NavState retract derivatives
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2015-07-20 00:55:34 -07:00 |
|
dellaert
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2df20b4f37
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Second order coriolis done
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2015-07-19 23:58:06 -07:00 |
|
dellaert
|
5f6d3a600f
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First order coriolis derivatives
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2015-07-19 23:40:20 -07:00 |
|
dellaert
|
a56c6e728b
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Small refactor
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2015-07-19 23:39:44 -07:00 |
|
dellaert
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ee747604e7
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No more MakeParams
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2015-07-19 23:39:19 -07:00 |
|
dellaert
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607fb4e37b
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Merge remote-tracking branch 'origin/develop' into feature/cleanup_ImuFactor
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2015-07-19 21:27:16 -07:00 |
|
dellaert
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76abf553b0
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biasCorrectedDelta and test of its derivatives
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2015-07-19 21:24:38 -07:00 |
|
dellaert
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1229ca6fee
|
OptionalJacobians
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2015-07-19 21:24:17 -07:00 |
|
dellaert
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13cca7be00
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MakeParams
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2015-07-19 21:23:16 -07:00 |
|
Frank Dellaert
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6058d045ae
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Merged in feature/OptionalJacobianBlocks (pull request #177)
New OptionalJacobian functionality
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2015-07-19 20:20:53 -07:00 |
Frank Dellaert
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2deac4b88f
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Some fixed-size optimizations, some const. Save a quaternion->matrix conversion in transform_from.
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2015-07-19 18:54:59 -07:00 |
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Frank Dellaert
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c3dfa3ab10
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Cleaned up Pose2 derivatives and used OptionalJacobian::cols in some places
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2015-07-19 18:28:18 -07:00 |
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cbeall3
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b5a978c534
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improve dynamic outlier rejection test
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2015-07-19 21:01:14 -04:00 |
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cbeall3
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fcc9ac2669
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remove extra cout
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2015-07-19 20:39:34 -04:00 |
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cbeall3
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36c652ac40
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remove monocular triangulation hack and make tests pass again
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2015-07-19 20:37:16 -04:00 |
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Frank Dellaert
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f2df547d86
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Functioning "cols" method. Unfortunately, "rows" and "block" are not easy.
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2015-07-19 17:15:26 -07:00 |
|
dellaert
|
d4d99c390d
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A custom retract does the trick
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2015-07-19 03:31:11 -07:00 |
|
dellaert
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f32a7cbd00
|
Parsed out tangent space operations
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2015-07-19 02:54:28 -07:00 |
|
dellaert
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9382641445
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Use constants, slight renaming
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2015-07-19 01:52:53 -07:00 |
|
dellaert
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7b02a01a44
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Simplified deprecated methods
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2015-07-19 01:52:23 -07:00 |
|
dellaert
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042d874f08
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Introduce and use NavState for predict
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2015-07-19 01:52:08 -07:00 |
|
dellaert
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3c59168406
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Inlined Logmap and derivatives, removed from PreintegratedRotation
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2015-07-19 00:54:25 -07:00 |