Adding Galilean3 Lie group#2122
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dellaert
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Wow, amazing! Had time to review .cpp file, not yet other things.
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Still some stragglers, e.g., |
gtsam/geometry/Gal3.h
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| /// The type of the Lie algebra (matrix representation) | ||
| using LieAlgebra = Matrix5; | ||
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| // Helper functions for accessing tangent vector components |
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I might put these in an anonymous namespace in the .cpp file…
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Unless we need them here, can we move them to anonymous namespace in the .cpp file?
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@mkielo3 maybe run "make check" before you push: it will suss out remaining compilation problems. |
dellaert
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Now CI fails because of wrapper :-) I commented on what the issue is I think.
| * TOA functor below provides a measurement function for those applications. | ||
| */ | ||
| class GTSAM_UNSTABLE_EXPORT Event { | ||
| class GTSAM_EXPORT Event { |
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TimeOfArrival might also need an EXPORT
gtsam/geometry/geometry.i
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| Event(double t, double x, double y, double z); | ||
| double time() const; | ||
| gtsam::Point3 location() const; | ||
| TimeOfArrival(); |
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You need a new class here, move missing pieces from unstable
dellaert
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Awesome, just a few nits left and this can be merged :-)
gtsam/geometry/Gal3.h
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| /// The type of the Lie algebra (matrix representation) | ||
| using LieAlgebra = Matrix5; | ||
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| // Helper functions for accessing tangent vector components |
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Unless we need them here, can we move them to anonymous namespace in the .cpp file?
| #else | ||
| #warning "IncrementalFixedLagSmoother was moved to the gtsam/nonlinear directory" | ||
| #endif | ||
| // #ifdef _MSC_VER |
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| #include <gtsam/nonlinear/IncrementalFixedLagSmoother.h> No newline at end of file | ||
| #include <gtsam/nonlinear/IncrementalFixedLagSmoother.h> |
| NonlinearFactorGraph, Point3, Values, noiseModel) | ||
| from gtsam_unstable import Event, TimeOfArrival, TOAFactor | ||
| NonlinearFactorGraph, Point3, Values, noiseModel, Event) | ||
| from gtsam_unstable import TimeOfArrival, TOAFactor |
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TimeOfArrival should be in GTSAM now
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Code follows style of NavState and implements core functionality: identity(), Hat(), Vee(), Expmap(), Logmap(), inverse(), between(), matrix(), compose(), adjointMap().
Tests are based off:
Note: derivatives of ExpMap and LogMap currently rely on numerical differentiation, which makes these tests circular.