lgmath
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utiasASRL
Lie group math library.
- The [reproject function](https://github.com/utiasASRL/lgmath/blob/master/src/se3/Transformation.cpp#L152) called in `lgmath::se3::Transformation`'s constructor (and other spots) is conditioned on det(**C**) = 1 but this is not a sufficient check to determine if **C** is in...
Ran into this making an example while sleepy. We should anticipate users doing things wrong. # Code Sample ```c++ #include #include #include int main() { // Create a transformation. Eigen::Matrix...
**Low priority** (covered in Tim's book, could make it more accessible) - [ ] Explain Lie groups at a very high level w/ diagrams. - [ ] The advantages of...
- [ ] Transform composition, inverse, 'division', etc. - [ ] Rotation ". - [ ] Transforming points. - [ ] Using covariances.
- [ ] `Transformation * TransformationWithCovariance` should have the same return type as `TransformationWithCovariance * Transformation`. - [ ] There should be a `RotationWithCovariance`. - [ ] Think about how...
Add Doxygen documentation for the parameters and return values of every function. Clang has a great `-Wdocumentation` warning, I'll see if GCC has something similar. # Completed Files - [...
Not sure if it's wanted, but: ``` lgmath::se3::Transformation test2(Eigen::Matrix4d::Identity()); ``` won't compile and yield: ``` home/frank/research/code/lgmath/tests/TransformTests.cpp:59:66: error: call of overloaded ‘Transformation(const IdentityReturnType)’ is ambiguous lgmath::se3::Transformation test2(Eigen::Matrix4d::Identity()); ^ /home/frank/research/code/lgmath/tests/TransformTests.cpp:59:66: note: candidates...
Just to log somewhere that SO2 and SE2 are not implemented See todos: https://github.com/utiasASRL/lgmath/blob/develop/include/lgmath.hpp#L12
We really should change functions that accept `const Eigen::Type &` to use `const Eigen::Ref&` as recommended by [Eigen documentation](http://eigen.tuxfamily.org/dox/TopicFunctionTakingEigenTypes.html). This unifies `Eigen::Matrix` and `Eigen::Map`, to avoid an additional copy.
When reprojecting the matrix |-1 0 0 | | 0 1 0 | | 0 0 -1| with small epsilons on the off-diagonal terms it becomes identity. We should add...
