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Frank Dellaert 93465945e9 Large gtsam refactoring 
To support faster development *and* better performance Richard and I pushed through a large refactoring of NonlinearFactors.

The following are the biggest changes:

1) NonLinearFactor1 and NonLinearFactor2 are now templated on Config, Key type, and X type, where X is the argument to the measurement function.

2) The measurement itself is no longer kept in the nonlinear factor. Instead, a derived class (see testVSLAMFactor, testNonlinearEquality, testPose3Factor etc...) has to implement a function to compute the errors, "evaluateErrors". Instead of (h(x)-z), it needs to return (z-h(x)), so Ax-b is an approximation of the error. IMPORTANT: evaluateErrors needs - if asked - *combine* the calculation of the function value h(x) and the derivatives dh(x)/dx. This was a major performance issue. To do this, boost::optional<Matrix&> arguments are provided, and tin EvaluateErrors you just  says something like

	if (H) *H = Matrix_(3,6,....);

3) We are no longer using int or strings for nonlinear factors. Instead, the preferred key type is now Symbol, defined in Key.h. This is both fast and cool: you can construct it from an int, and cast it to a strong. It also does type checking: a Symbol<Pose3,'x'> will not match a Symbol<Pose2,'x'>

4) minor: take a look at LieConfig.h: it help you avoid writing a lot of code bu automatically creating configs for a certain type. See e.g. Pose3Config.h. A "double" LieConfig is on the way - Thanks Richard and Manohar !
 		2010-01-13 22:25:03 +00:00
..
.cvsignore Fixing directory structure 2009-08-21 22:23:24 +00:00
BayesNet-inl.h print is more intuitive using reverse order 2009-12-20 11:56:33 +00:00
BayesNet.h Renamed ConditionalGaussian -> GaussianConditional 2009-11-12 16:41:18 +00:00
BayesNetPreconditioner.cpp Added Bayes Net and Subgraph preconditioners to gtsam (developed in CitySLAM project) 2009-12-31 12:56:47 +00:00
BayesNetPreconditioner.h Added Bayes Net and Subgraph preconditioners to gtsam (developed in CitySLAM project) 2009-12-31 12:56:47 +00:00
BayesTree-inl.h ISAM2 (nonlinear ISAM) partially there, unit test currently disabled 2009-12-29 05:57:05 +00:00
BayesTree.h progress in ISAM2, but unit test still disabled 2009-12-31 05:35:08 +00:00
BearingFactor.h bearing functions and derivatives 2010-01-12 02:10:42 +00:00
BetweenFactor.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
BinaryConditional.h replaced pow with bit shift operator, changed constructor to take p(x|parents) and created cpt inside the constructor. 2009-12-07 03:25:25 +00:00
Cal3_S2.cpp made all classes that currently have an assert_equal "Testable" 2009-10-26 19:26:51 +00:00
Cal3_S2.h Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes. 2010-01-08 00:40:17 +00:00
CalibratedCamera.cpp renamed transformPose_to to transform_to, composeTransform to compose, and changed nr. of arguments of Dtransform_to2 (to two) 2009-12-18 05:36:53 +00:00
CalibratedCamera.h Combined evaluation/derivatives now return the function value instead of using a pointer 2009-10-22 14:44:27 +00:00
Conditional.h A couple more "missing" .hpp files for newer gcc :-) 2009-12-08 22:49:57 +00:00
Doxyfile Fixing directory structure 2009-08-21 22:23:24 +00:00
Errors.cpp added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions 2010-01-11 08:32:59 +00:00
Errors.h added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions 2010-01-11 08:32:59 +00:00
Factor.h Two changes: LinearFactor::sparse and LinearFactorGraph:sparse, and renamed VariableSet -> Dimensions, which is now a map from keys to integer variable dimensions. Merged in from the "sparse" branch created with Viorela. 2009-11-06 05:43:03 +00:00
FactorGraph-inl.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
FactorGraph.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
GaussianBayesNet.cpp removed print statements 2010-01-09 02:37:58 +00:00
GaussianBayesNet.h backSubstitute functions (unit-tested in CitySLAM) for preconditioning 2009-12-30 17:13:24 +00:00
GaussianConditional.cpp new back-substitution functions that can do unit triangular solves 2009-12-29 13:59:34 +00:00
GaussianConditional.h Renamed ConditionalGaussian -> GaussianConditional 2009-11-12 16:41:18 +00:00
GaussianFactor.cpp using ediv_ where needed 2009-12-31 10:30:06 +00:00
GaussianFactor.h Gradient using new operator^ and errors method 2009-12-27 12:13:31 +00:00
GaussianFactorGraph.cpp Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes. 2010-01-08 00:40:17 +00:00
GaussianFactorGraph.h Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes. 2010-01-08 00:40:17 +00:00
GaussianFactorSet.h Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph 2009-11-12 16:16:32 +00:00
GaussianISAM.cpp ISAM2 (nonlinear ISAM) partially there, unit test currently disabled 2009-12-29 05:57:05 +00:00
GaussianISAM.h ISAM2 (nonlinear ISAM) partially there, unit test currently disabled 2009-12-29 05:57:05 +00:00
GaussianISAM2.cpp unit test enabled again and working 2009-12-29 14:54:45 +00:00
GaussianISAM2.h ISAM2 (nonlinear ISAM) partially there, unit test currently disabled 2009-12-29 05:57:05 +00:00
ISAM-inl.h template nightmare resolved, all tests working 2009-12-27 23:15:36 +00:00
ISAM.h template nightmare resolved, all tests working 2009-12-27 23:15:36 +00:00
ISAM2-inl.h relinearizing factors corresponding to contaminated cliques 2010-01-03 04:57:35 +00:00
ISAM2.h nonlinear update, all but rhs/config 2009-12-30 04:27:14 +00:00
Key.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Lie-inl.h Deriving Lie objects from a base class Lie<T>, which provides member functions to access global functions, for use in MATLAB. 2010-01-09 23:15:06 +00:00
Lie.h Comment cleanup to /** style and adding global print functions 2010-01-10 22:41:23 +00:00
LieConfig-inl.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
LieConfig.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Makefile.am Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Matrix.cpp Vector and Matrix initialization optimization 2010-01-12 16:12:31 +00:00
Matrix.h more meaningful error messages for matrix operations 2010-01-09 07:06:29 +00:00
NonlinearConstraint-inl.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
NonlinearConstraint.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
NonlinearEquality.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
NonlinearFactor.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
NonlinearFactor.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
NonlinearFactorGraph-inl.h error_vectors 2009-12-18 06:55:24 +00:00
NonlinearFactorGraph.h Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes. 2010-01-08 00:40:17 +00:00
NonlinearOptimizer-inl.h NonlinearOptimizer constructor now requires shared_ptr to prevent storing pointers to stack and temporary variables. Code that uses it will need to be modified, but CitySLAM is already done. 2010-01-11 20:17:28 +00:00
NonlinearOptimizer.h NonlinearOptimizer constructor now requires shared_ptr to prevent storing pointers to stack and temporary variables. Code that uses it will need to be modified, but CitySLAM is already done. 2010-01-11 20:17:28 +00:00
Ordering.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Ordering.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Point2.cpp norm 2010-01-12 02:09:03 +00:00
Point2.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Point2Prior.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Point3.cpp Deriving Lie objects from a base class Lie<T>, which provides member functions to access global functions, for use in MATLAB. 2010-01-09 23:15:06 +00:00
Point3.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Pose2.cpp combined evaluation and derivatives 2010-01-12 02:08:41 +00:00
Pose2.h combined evaluation and derivatives 2010-01-12 02:08:41 +00:00
Pose2Config.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Pose2Config.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Pose2Factor.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Pose2Graph.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Pose2Graph.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Pose2Prior.h fix Pose2Prior problem and adding prior factor when splitting factor graph 2010-01-09 23:39:11 +00:00
Pose3.cpp return identity 2010-01-12 02:09:43 +00:00
Pose3.h Comment cleanup to /** style and adding global print functions 2010-01-10 22:41:23 +00:00
Pose3Config.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Pose3Config.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Pose3Factor.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Pose3Graph.cpp Created Pose3Config, Pose3Graph, and tested loop closure optimization. 2010-01-10 18:21:20 +00:00
Pose3Graph.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Rot2.cpp Deriving Lie objects from a base class Lie<T>, which provides member functions to access global functions, for use in MATLAB. 2010-01-09 23:15:06 +00:00
Rot2.h Comment cleanup to /** style and adding global print functions 2010-01-10 22:41:23 +00:00
Rot3.cpp Special case for trace==1 in Rot3 logmap 2010-01-10 23:36:37 +00:00
Rot3.h Special case for trace==1 in Rot3 logmap 2010-01-10 23:36:37 +00:00
SQPOptimizer-inl.h Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes. 2010-01-08 00:40:17 +00:00
SQPOptimizer.h Added a function for the SQPOptimizer that will iterate until convergence. At the moment, the convergence conditions are quite simple (error below threshold or too many iterations). The system does, however, strictly limit the number of iterations. 2009-11-28 22:49:14 +00:00
SimpleCamera.cpp Combined evaluation/derivatives now return the function value instead of using a pointer 2009-10-22 14:44:27 +00:00
SimpleCamera.h Combined evaluation/derivatives now return the function value instead of using a pointer 2009-10-22 14:44:27 +00:00
Simulated2DMeasurement.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Simulated2DOdometry.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Simulated3D.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Simulated3D.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
SubgraphPreconditioner.cpp added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions 2010-01-11 08:32:59 +00:00
SubgraphPreconditioner.h added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions 2010-01-11 08:32:59 +00:00
SymbolicBayesNet.cpp BIG CHANGE: 2009-11-09 07:04:26 +00:00
SymbolicBayesNet.h BIG CHANGE: 2009-11-09 07:04:26 +00:00
SymbolicConditional.h constructor with three parents 2009-11-19 06:34:28 +00:00
SymbolicFactor.cpp added SymbolicFactor constructor that takes a SymbolicConditional 2009-11-18 17:27:27 +00:00
SymbolicFactor.h SymbolicFactor works in Matlab 2009-11-23 19:45:09 +00:00
SymbolicFactorGraph.cpp Moved inference methods to new compilation unit. Added [factor], and [marginalize] now returns a factor graph. 2009-11-12 04:56:30 +00:00
SymbolicFactorGraph.h While watching TV :-) added some constructors for more readable tests. 2009-11-21 04:59:50 +00:00
Testable.h Removed extra ; 2009-12-16 21:41:33 +00:00
VSLAMConfig.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
VSLAMConfig.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
VSLAMFactor.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
VSLAMFactor.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
VSLAMGraph.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
VSLAMGraph.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
Value.h BIG: replaced optimize in NonlinearFactorGraph with specialized NonlinearOptimizer object. This does away with the artificial ErrorVectorConfig and the like as NonlinearOptimizer is templated and can use "exmap", the exponential map defined for any differentiable manifold. 2009-09-09 04:43:04 +00:00
Vector.cpp Vector and Matrix initialization optimization 2010-01-12 16:12:31 +00:00
Vector.h defined global functions in Lie.h rather than here 2010-01-10 12:35:41 +00:00
VectorConfig.cpp added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions 2010-01-11 08:32:59 +00:00
VectorConfig.h added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions 2010-01-11 08:32:59 +00:00
graph-inl.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
graph.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
gtsam.h dim, expmap, logmap works 2010-01-10 21:53:38 +00:00
gtsam.sln Fixing directory structure 2009-08-21 22:23:24 +00:00
gtsam.vcproj Fixing directory structure 2009-08-21 22:23:24 +00:00
inference-inl.h GaussianBayesTree added, testBayesTree split 2009-12-09 19:39:25 +00:00
inference.h New compilation unit that collects generic, templated inference methods that go between factor graphs and Bayes nets. These used to be in BayesNet-inl.h and FactorGraph-inl.h 2009-11-12 04:52:40 +00:00
iterative-inl.h added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions 2010-01-11 08:32:59 +00:00
iterative.cpp added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions 2010-01-11 08:32:59 +00:00
iterative.h added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions 2010-01-11 08:32:59 +00:00
manual.mk Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph 2009-11-12 16:16:32 +00:00
numericalDerivative.h Removed Vector-specific versions of NumericalDerivative, instead Vector is now a Lie object 2010-01-10 18:23:47 +00:00
simulated2D.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
simulated2D.h Large gtsam refactoring 2010-01-13 22:25:03 +00:00
smallExample.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
smallExample.h Added planar graph with easy subtree 2009-12-31 12:55:51 +00:00
svdcmp.cpp Fixing directory structure 2009-08-21 22:23:24 +00:00
svdcmp.h Fixing directory structure 2009-08-21 22:23:24 +00:00
testBayesNetPreconditioner.cpp added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions 2010-01-11 08:32:59 +00:00
testBayesTree.cpp template nightmare resolved, all tests working 2009-12-27 23:15:36 +00:00
testBearingFactor.cpp bearing functions and derivatives 2010-01-12 02:10:42 +00:00
testBinaryBayesNet.cpp removed prints 2010-01-11 01:09:07 +00:00
testCal3_S2.cpp Easy constructor 2009-11-09 04:46:08 +00:00
testCalibratedCamera.cpp Combined evaluation/derivatives now return the function value instead of using a pointer 2009-10-22 14:44:27 +00:00
testFactorgraph.cpp Fixing directory structure 2009-08-21 22:23:24 +00:00
testGaussianBayesNet.cpp Renamed ConditionalGaussian -> GaussianConditional 2009-11-12 16:41:18 +00:00
testGaussianConditional.cpp Renamed ConditionalGaussian -> GaussianConditional 2009-11-12 16:41:18 +00:00
testGaussianFactor.cpp Gradient using new operator^ and errors method 2009-12-27 12:13:31 +00:00
testGaussianFactorGraph.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testGaussianISAM.cpp template nightmare resolved, all tests working 2009-12-27 23:15:36 +00:00
testGaussianISAM2.cpp relinearizing factors corresponding to contaminated cliques 2010-01-03 04:57:35 +00:00
testGraph.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testISAM.cpp template nightmare resolved, all tests working 2009-12-27 23:15:36 +00:00
testInference.cpp removed print 2009-11-21 06:06:30 +00:00
testIterative.cpp System now a class (gradient is method) 2009-12-28 17:28:48 +00:00
testLieConfig.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testMatrix.cpp inverted sign of square root to make inv sqrt positive for simple covariance matrices 2010-01-10 13:53:31 +00:00
testNonlinearConstraint.cpp Renaming gradients -> jacobians 2009-12-18 03:05:47 +00:00
testNonlinearEquality.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testNonlinearFactor.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testNonlinearFactorGraph.cpp added getOrdering unit test 2009-12-09 15:25:50 +00:00
testNonlinearOptimizer.cpp NonlinearOptimizer constructor now requires shared_ptr to prevent storing pointers to stack and temporary variables. Code that uses it will need to be modified, but CitySLAM is already done. 2010-01-11 20:17:28 +00:00
testOrdering.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testPoint2.cpp norm 2010-01-12 02:09:03 +00:00
testPoint3.cpp Added few utility functions required to check if Marker is facing the Camera 2009-09-13 20:07:00 +00:00
testPose2.cpp fix a bug in composePoses that switched the order of compose parameters 2010-01-13 06:02:18 +00:00
testPose2Config.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testPose2Factor.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testPose2Graph.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testPose3.cpp Unit tests for correct "Agrawal06iros" versions: they are indeed correct. 2010-01-10 12:26:31 +00:00
testPose3Config.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testPose3Factor.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testPose3Graph.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testRot2.cpp Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes. 2010-01-08 00:40:17 +00:00
testRot3.cpp Special case for trace==1 in Rot3 logmap 2010-01-10 23:36:37 +00:00
testSQP.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testSQPOptimizer.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testSimpleCamera.cpp Combined evaluation/derivatives now return the function value instead of using a pointer 2009-10-22 14:44:27 +00:00
testSimulated2D.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testSimulated3D.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testSubgraphPreconditioner.cpp added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions 2010-01-11 08:32:59 +00:00
testSymbolicBayesNet.cpp Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph 2009-11-12 16:16:32 +00:00
testSymbolicFactor.cpp Symbolic eliminate now works, new compilation unit SymbolicFactor 2009-10-30 03:48:32 +00:00
testSymbolicFactorGraph.cpp While watching TV :-) added some constructors for more readable tests. 2009-11-21 04:59:50 +00:00
testVSLAMConfig.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testVSLAMFactor.cpp Large gtsam refactoring 2010-01-13 22:25:03 +00:00
testVSLAMGraph.cpp NonlinearOptimizer constructor now requires shared_ptr to prevent storing pointers to stack and temporary variables. Code that uses it will need to be modified, but CitySLAM is already done. 2010-01-11 20:17:28 +00:00
testVector.cpp new concatVectors call 2009-12-18 06:11:19 +00:00
testVectorConfig.cpp Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes. 2010-01-08 00:40:17 +00:00
timeGaussianFactor.cpp Renamed ConditionalGaussian -> GaussianConditional 2009-11-12 16:41:18 +00:00
timeGaussianFactorGraph.cpp Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph 2009-11-12 16:16:32 +00:00
timeRot3.cpp Much faster compund rotation using Justin's (indeed correct) formula 2010-01-10 12:25:46 +00:00