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Squashed commit of the following: commit b8db3e4 Author: newtype51 <connor.holmes@mail.utoronto.ca> Date: Fri Jul 18 13:17:33 2025 -0400 Added optimization test for WNOA Factor. Integrated WNOA into Lost in the woods example. commit b6570f4 Author: newtype51 <connor.holmes@mail.utoronto.ca> Date: Thu Jul 17 23:56:16 2025 -0400 WNOA optimization tests passing for SE2 and SE3. Moved all code into header file. commit 7f62e0e Author: newtype51 <connor.holmes@mail.utoronto.ca> Date: Thu Jul 17 20:18:18 2025 -0400 Converted WNOA factors to version that splits up the velocity and pose states into separate variables. Also implemented templated version. Tests passing except optimization test. commit 481d2d3 Author: newtype51 <connor.holmes@mail.utoronto.ca> Date: Mon Jul 14 19:57:39 2025 -0400 Implemented and tested Jacobians for WNOA model. commit 3db0d86 Author: newtype51 <connor.holmes@mail.utoronto.ca> Date: Sun Jul 13 20:13:36 2025 -0400 WNOA has testable trait. Added test cases for factor error eval. commit a7a0fc3 Author: newtype51 <connor.holmes@mail.utoronto.ca> Date: Sat Jul 5 19:09:59 2025 -0400 Started building WNOA motion model factor and unittests. commit 24af876 Author: newtype51 <connor.holmes@mail.utoronto.ca> Date: Thu Jun 19 20:36:28 2025 -0400 Assignment 2 now converging with bearing range measurements, even when init from odom. commit 7910855 Author: Connor Holmes <connor.holmes@mail.utoronto.ca> Date: Thu Jun 19 16:20:13 2025 -0400 Implementing bearing and range measurements. Expression working but optimization blows up. commit ffebeae Author: Connor Holmes <connor.holmes@mail.utoronto.ca> Date: Wed Jun 18 15:24:43 2025 -0400 assmt 2 with odometry-only working commit 6b48451 Author: Connor Holmes <connor.holmes@mail.utoronto.ca> Date: Tue Jun 17 20:19:01 2025 -0400 Import assigment 2 data and start making factor graph commit 3643a3c Author: newtype51 <connor.holmes@mail.utoronto.ca> Date: Mon Jun 16 17:25:05 2025 -0400 can store results and reproduce plots with python for 2d case, but something seems wrong with the covariance scaling commit 14a52ec Author: newtype51 <connor.holmes@mail.utoronto.ca> Date: Fri Jun 13 19:10:47 2025 -0400 set up dev container
- Changed Qc to a vector - Implemented new Point1 Manifold - Renamed WNOAFactors.h to WNAOFactor.h for consistency - Minor changes to plotting script (removed absolute path)
- Point1 Manifold - Giant-Glass-Of-Milk dataset
…ng (required yaml-cpp install). Added gt trajectory to plots.
…y and WNOA factors.
Created evaluable class for bearing-range 2d meas and wrote test functions for this class. Updated plotting so that it generates STEAM/GTSAM comparison plots.
…end to WNOV or other factors
resolved conflicts in WNOAFactor.h. Tested that it still works
…ses/velocities - used a new way to get the required blocks from JointMarginal
Refactored Interpolator. Covariance interpolation is working.
…o more computing Psi and Lambda twice)
Interpolator unit test
Allow for extrapolating in Interpolator
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| // add WNOA factor | ||
| graph.add(WNOAMotionFactor<Pose2>(P(0), V(0), P(1), V(1), timestep, Q_se2)); | ||
| // Set up initial geuss |
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The comment spelling "geuss" should be corrected to "guess".
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| // add WNOA factor | ||
| graph.add(WNOAMotionFactor<Pose3>(P(0), V(0), P(1), V(1), timestep, Q_se3)); | ||
| // Set up initial geuss |
There was a problem hiding this comment.
The comment spelling "geuss" should be corrected to "guess".
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| // add WNOA factor | ||
| graph.add(WNOAMotionFactor<Pose3>(P(0), V(0), P(1), V(1), timestep, Q_se3)); | ||
| // Set up initial geuss |
There was a problem hiding this comment.
The comment spelling "geuss" should be corrected to "guess".
…to make equations clearer.
…is is important for interpolation and Jacobian chain rules)
…ly added details on what data we precomputed and how we can save on compute by exploiting shared variables
Remove dead code from Interpolator test
Remove small_angle functions (missed) Move WNOA factor graph constructor into cpp file.
Code Clean-up: Adding comments and deleting dead code
…d header to StateData header file.
… when looking through keys (to log(N))
…rdered map to store values for robust and deterministic accessing
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I kicked off CI again. What's the status on this one? |
Member
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PS I use VS code "Code Spell Checker", and rigorously hunt down "blue flags", either fixing or adding to whitelist. But rmember: abbreviations are discouraged, and camelCase is the norm :-) |
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Draft PR for full Continuous-Time, Gaussian-Process Factors dev branch for GTSAM