curves
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ethz-asl
A library of curves for estimation.
For efficiency sake can we write some template structure to bypass virtual functions in this class - esp. for retract and localCorrdinates which will be frequently called by GTSAM.
To correctly fix a curve at a given time. However, as in the HermiteCurve this introduces ExpressionFactors to curves. Do we want that?
The base coefficient class already declares the values as a dynamic eigen vector, so when implementing derived classes we can't really take advantage of efficient statically sized vectors. Is there...
We'll require further functions to do all the fancy things with curves, such es extracting pieces of curves and composing several curves into one. Proposed functinos would be (shifted from...
Now that we are working with the unstable gtsam development branch, an issue has occurred where contributors to the curves library are using different revisions of gtsam. Which has in...
I'd like to converge on a design that tightly integrates with GTSAM as soon as possible so that we can come up with first implementations of everything using the new...
Optimize for coefficients that fall directly on keys (e.g. alpha == 0)--> no interploation is required in this case and expressions do not need to be evaluated.
I had many discussions with Mike about this and it looks like a lot of the ugliness on both sides of the curves/continuous scanmatching code base are because of our...
What was the design decision behind separating evaluation and the Jacobian function: ``` /// Get the curve Jacobians. /// This is the main interface for GTSAM virtual void getJacobians(unsigned derivativeOrder,...
Soon, we will have to drop a file somewhere and asses the quality of the curve (at least for the Euclidean space). Here are possibilities that came up at the...
