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Adding Galilean3 Lie group #2122

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Merged
dellaert merged 15 commits into from
May 16, 2025
Merged

Adding Galilean3 Lie group #2122

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07c9bc8
Implement working Gal3 class with passing tests
mkielo3 Apr 30, 2025
42985c6
Add Galilean 3 group
mkielo3 May 1, 2025
129c10a
Update .gitignore
mkielo3 May 1, 2025
fb72fab
gal3 implementation
mkielo3 May 1, 2025
86771b5
removed navstate order comment
mkielo3 May 3, 2025
e330bd3
refactored Expmap/Logmap to remove calculate E and remove redundancy
mkielo3 May 3, 2025
8877542
refactored to inherit from LieGroup wherever possible
mkielo3 May 3, 2025
e8a002e
addressed PR comments
mkielo3 May 3, 2025
036e77e
fixed Event paths
mkielo3 May 6, 2025
f07d9aa
fixed Event paths
mkielo3 May 6, 2025
c5a26ae
fixed paths to move Event from unstable
mkielo3 May 8, 2025
5111215
fixed python build error
mkielo3 May 8, 2025
5702ec7
Merge remote-tracking branch 'upstream/develop' into gal update upstream
mkielo3 May 16, 2025
32b8eff
fixed IncrementalFixedLagSmooth
mkielo3 May 16, 2025
e6c1428
cleanup
mkielo3 May 16, 2025
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2 changes: 1 addition & 1 deletion gtsam_unstable/geometry/Event.cpp → gtsam/geometry/Event.cpp
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Expand Up @@ -17,7 +17,7 @@
* @date December 2014
*/

#include <gtsam_unstable/geometry/Event.h>
#include <gtsam/geometry/Event.h>
#include <iostream>

namespace gtsam {
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6 changes: 3 additions & 3 deletions gtsam_unstable/geometry/Event.h → gtsam/geometry/Event.h
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Expand Up @@ -20,7 +20,7 @@
#pragma once

#include <gtsam/geometry/Point3.h>
#include <gtsam_unstable/dllexport.h>
#include <gtsam/dllexport.h>

#include <cmath>
#include <iosfwd>
Expand All @@ -34,7 +34,7 @@ namespace gtsam {
* SLAM, where we have "time of arrival" measurements at a set of sensors. The
* TOA functor below provides a measurement function for those applications.
*/
class GTSAM_UNSTABLE_EXPORT Event {
class GTSAM_EXPORT Event {
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@dellaert dellaert May 8, 2025

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TimeOfArrival might also need an EXPORT

double time_; ///< Time event was generated
Point3 location_; ///< Location at time event was generated

Expand Down Expand Up @@ -84,7 +84,7 @@ template <>
struct traits<Event> : internal::Manifold<Event> {};

/// Time of arrival to given sensor
class TimeOfArrival {
class GTSAM_EXPORT TimeOfArrival {
const double speed_; ///< signal speed

public:
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