steam
steam copied to clipboard
utiasASRL
The Simultaneous Trajectory Estimation and Mapping (STEAM) Engine.
There seems to be a bunch of unused definitions triggering build warnings. Comment them out or delete them if they're not needed. ``` steam/include/steam/evaluator/blockauto/transform/TransformEvalOperations.hpp:22:32: warning: ‘steam::BlockAutomaticEvaluator::Ptr steam::se3::compose(const ConstPtr&, const ConstPtr&)’...
There is two occurrences of this error in the code: `throw std::runtime_error("Requested trajectory evaluator at an invalid time.");` - https://github.com/utiasASRL/steam/blob/develop/src/trajectory/SteamTrajInterface.cpp#L97 - https://github.com/utiasASRL/steam/blob/develop/src/trajectory/SteamTrajInterface.cpp#L119 It would be easier to debug if the...
`steam::se3::VectorSpaceStateVar()` does not exist causing problem when integrated in other data structure.
The code seems mostly documented, but there is no Doxygen taget to build it in the [CMakeLists.txt](https://github.com/utiasASRL/steam/blob/develop/CMakeLists.txt).
Here some possible enhancement related to [Manual.tex](https://github.com/utiasASRL/steam/blob/develop/doc/Manual.tex): - No documentation for the [Continuous-Time Trajectories](https://github.com/utiasASRL/steam/blob/develop/doc/Manual.tex#L369) - I'm missing some code example through the module descriptions instead of only at the end....
For example, see this line: https://github.com/utiasASRL/steam/blob/develop/samples/SimpleBAandTrajPrior.cpp#L57
Talking to Sean and Mike[0], it seems that the STEAM code currently does not allow for interpolation/extrapolation of the covariance, only the mean. We need to upgrade this to allow...
Created gyro preintegration terms for radar teach and repeat
