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Pose3::Adjoint(xi) Jacobians #885

Merged
merged 18 commits into from
Nov 1, 2021
Merged

Pose3::Adjoint(xi) Jacobians #885

merged 18 commits into from
Nov 1, 2021

Commits on Oct 4, 2021

  1. AdjointMap jacobians for Pose3

    @gchenfc
    gchenfc committed Oct 4, 2021
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  2. only compute jacobians when needed

    @gchenfc
    gchenfc committed Oct 4, 2021
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  3. AdjointTranspose

    @gchenfc
    gchenfc committed Oct 4, 2021
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  4. only compute intermediate jacobians when needed

    @gchenfc
    gchenfc committed Oct 4, 2021
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  5. review comment: move check outside lambda

    @gchenfc
    gchenfc committed Oct 4, 2021
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Commits on Oct 11, 2021

  1. Merge branch 'develop' into feature/Pose3AdjointMapJacobians

    @varunagrawal
    varunagrawal committed Oct 11, 2021
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Commits on Oct 13, 2021

  1. update proxy functions to use the Adjoint and AdjointTranpose methods

    @varunagrawal
    varunagrawal committed Oct 13, 2021
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  2. add docs explaining why pRw_H_t is the same as Rw_H_R

    @varunagrawal
    varunagrawal committed Oct 13, 2021
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  3. make threshold more lenient

    @varunagrawal
    varunagrawal committed Oct 13, 2021
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Commits on Oct 16, 2021

  1. correct jacobians

    @gchenfc
    gchenfc committed Oct 16, 2021
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  2. documentation

    @gchenfc
    gchenfc committed Oct 16, 2021
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  3. explicitly define simpified jacobian expressions for efficiency

    @gchenfc
    gchenfc committed Oct 16, 2021
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  4. stricter tolerances

    @gchenfc
    gchenfc committed Oct 16, 2021
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  5. Revert "stricter tolerances" 

    This reverts commit 761987a.
    @gchenfc
    gchenfc committed Oct 16, 2021
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  6. address frank review comments

    @gchenfc
    gchenfc committed Oct 16, 2021
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Commits on Oct 26, 2021

  1. much cleaner Adjoint jacobian

    @gchenfc
    gchenfc committed Oct 26, 2021
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  2. delete "FIXME" because compose unit tests check AdjointMap

    @gchenfc
    gchenfc committed Oct 26, 2021
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Commits on Nov 1, 2021

  1. Address review comments: negative sign and AdjointTranspose section

    @gchenfc
    gchenfc committed Nov 1, 2021
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