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CombinedImuFactor: Add bias effect on position jacobian #874

Merged
merged 45 commits into from
Aug 21, 2022
Merged

CombinedImuFactor: Add bias effect on position jacobian #874

merged 45 commits into from
Aug 21, 2022

Commits on Sep 16, 2021

  1. minor improvements to CombinedImuFactor

    @varunagrawal
    varunagrawal committed Sep 16, 2021
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  2. account for bias on position in jacobians of CombinedImuFactor

    @varunagrawal
    varunagrawal committed Sep 16, 2021
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Commits on Sep 17, 2021

  1. Add unit test for checking covariance of CombinedImuFactor

    @varunagrawal
    varunagrawal committed Sep 17, 2021
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  2. additional comments to make understanding the code easier

    @varunagrawal
    varunagrawal committed Sep 17, 2021
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  3. no need to assign negative to jacobians as they cancel out later

    @varunagrawal
    varunagrawal committed Sep 17, 2021
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  4. add details about noise propagation for CombinedImuFactor in ImuFacto… 

    …r.pdf
    @varunagrawal
    varunagrawal committed Sep 17, 2021
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Commits on Sep 18, 2021

  1. Add the Preintegrated IMU jacobians tech report and mention it in the… 

    … docs
    @varunagrawal
    varunagrawal committed Sep 18, 2021
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Commits on Sep 20, 2021

  1. update ImuFactor reference

    @varunagrawal
    varunagrawal committed Sep 20, 2021
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  2. Merge branch 'develop' into fix/368

    @varunagrawal
    varunagrawal committed Sep 20, 2021
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Commits on Sep 21, 2021

  1. add test for checking covariances between ImuFactor and CombinedImuFa… 

    …ctor
    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  2. print statements in ImuFactor

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  3. typedef for Vector15

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  4. updated CombinedImuFactor covariance with additional off-diagonal ele… 

    …ments
    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  5. CombinedScenarioRunner

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  6. actually test the covariances and fix bug

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  7. update test with comments

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  8. update ImuFactor doc

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  9. remove print statements

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  10. minor refactoring

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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Commits on Sep 28, 2021

  1. updated ImuFactor doc with details about CombinedImuFactor

    @varunagrawal
    varunagrawal committed Sep 28, 2021
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  2. added details about covariance discretization with references

    @varunagrawal
    varunagrawal committed Sep 28, 2021
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Commits on Sep 30, 2021

  1. add test for MC based covariance estimation

    @varunagrawal
    varunagrawal committed Sep 30, 2021
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  2. undo name change from 984a90

    @varunagrawal
    varunagrawal committed Sep 30, 2021
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  3. detailed implementation of CombinedImuFactor noise propagation

    @varunagrawal
    varunagrawal committed Sep 30, 2021
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  4. test passes

    @varunagrawal
    varunagrawal committed Sep 30, 2021
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Commits on Oct 10, 2021

  1. lyx update

    @varunagrawal
    varunagrawal committed Oct 10, 2021
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Commits on May 5, 2022

  1. formatting

    @varunagrawal
    varunagrawal committed May 5, 2022
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  2. update PDF doc

    @varunagrawal
    varunagrawal committed May 5, 2022
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  3. Merge branch 'develop' into fix/combined-imu

    @varunagrawal
    varunagrawal committed May 5, 2022
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  4. Merge branch 'develop' into fix/combined-imu-cov

    @varunagrawal
    varunagrawal committed May 5, 2022
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  5. Merge branch 'develop' into fix/368

    @varunagrawal
    varunagrawal committed May 5, 2022
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  6. Merge branch 'fix/368' into fix/combined-imu-cov

    @varunagrawal
    varunagrawal committed May 5, 2022
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  7. Merge branch 'fix/combined-imu-cov' into fix/combined-imu

    @varunagrawal
    varunagrawal committed May 5, 2022
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Commits on May 6, 2022

  1. fix test

    @varunagrawal
    varunagrawal committed May 6, 2022
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Commits on May 8, 2022

  1. fix test

    @varunagrawal
    varunagrawal committed May 8, 2022
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  2. minor refactor to follow the math better

    @varunagrawal
    varunagrawal committed May 8, 2022
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Commits on May 22, 2022

  1. use prior naming scheme for bias jacobians

    @varunagrawal
    varunagrawal committed May 22, 2022
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Commits on Jul 3, 2022

  1. update Lyx document based on Luca's review

    @varunagrawal
    varunagrawal committed Jul 3, 2022
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Commits on Jul 5, 2022

  1. Merge pull request #882 from borglab/fix/combined-imu

    @varunagrawal
    varunagrawal authored Jul 5, 2022
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Commits on Jul 20, 2022

  1. Merge pull request #879 from borglab/fix/combined-imu-cov 

    Fix Preintegration Covariance of CombinedImuFactor
    @varunagrawal
    varunagrawal authored Jul 20, 2022
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  2. change python CI cores to 1

    @varunagrawal
    varunagrawal committed Jul 20, 2022
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Commits on Jul 22, 2022

  1. Revert "change python CI cores to 1" 

    This reverts commit 2d41b01.
    @varunagrawal
    varunagrawal committed Jul 22, 2022
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  2. Merge branch 'develop' into fix/368

    @varunagrawal
    varunagrawal committed Jul 22, 2022
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Commits on Aug 2, 2022

  1. fix setter and getter for biasAccOmegaInit

    @varunagrawal
    varunagrawal committed Aug 2, 2022
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Commits on Aug 10, 2022

  1. revert name change, save for another PR

    @varunagrawal
    varunagrawal committed Aug 10, 2022
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