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Pose3::Adjoint(xi) Jacobians#885

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gchenfc merged 18 commits intodevelopborglab/gtsam:developfrom feature/Pose3AdjointMapJacobiansborglab/gtsam:feature/Pose3AdjointMapJacobiansCopy head branch name to clipboardNov 1, 2021

+516-5

Commits

Commits on Oct 4, 2021

• AdjointMap jacobians for Pose3

  gchenfc

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  fe59f3d

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• only compute jacobians when needed

  gchenfc

  committed
  bcafdb7

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• AdjointTranspose

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  ecf53a6

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• only compute intermediate jacobians when needed

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  ab1b926

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• review comment: move check outside lambda

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  f7fed8b

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Commits on Oct 11, 2021

• Merge branch 'develop' into feature/Pose3AdjointMapJacobians

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  7c02666

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Commits on Oct 13, 2021

• update proxy functions to use the Adjoint and AdjointTranpose methods

  varunagrawal

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  f97e55b

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• add docs explaining why pRw_H_t is the same as Rw_H_R

  varunagrawal

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  2de623b

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• make threshold more lenient

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  561037f

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Commits on Oct 16, 2021

• correct jacobians

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• documentation

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  908ba70

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• explicitly define simpified jacobian expressions for efficiency

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  f2ac90d

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• stricter tolerances

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  761987a

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• Revert "stricter tolerances"

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• address frank review comments

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  31e5cbb

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Commits on Oct 26, 2021

• much cleaner Adjoint jacobian

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  f0fc0d4

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• delete "FIXME" because compose unit tests check AdjointMap

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  115852c

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Commits on Nov 1, 2021

• Address review comments: negative sign and AdjointTranspose section

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