Code

Imu Preintegration#10

Code

Merged

contagon merged 14 commits intomasterrpl-cmu/factrs:masterfrom easton/preintrpl-cmu/factrs:easton/preintCopy head branch name to clipboardOct 4, 2024

+1,617-190

Commits

Commits on Aug 23, 2024

• Added ImuBias type

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  committed
  2fcd396

• Merge branch 'typed-symbols' into easton/preint

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  committed
  d470732

Commits on Aug 26, 2024

• Ditched prelude

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  91c493a

• Finished writing bulk of preint

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  78fa77f

Commits on Aug 28, 2024

• Fix tests due to prelude removal

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  committed
  3bca1ab

• Complete imu preint implementation done, testing next

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  committed
  fe915da

• Cleaned up implementation quite a bit

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  committed
  d0a4cfb

Commits on Aug 30, 2024

• Tweaks per Taylor's suggestion

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  d11f43e

• Added tests for ImuDelta, new AccelUnbiased newtypes

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  committed
  d402e07

Commits on Sep 2, 2024

• Added make_a test, fixed H_prop test

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  a901c4d

• Test SO3 dexp

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  dd08a3d

• Reorganize integrate function a smidge

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  1c852d0

Commits on Sep 3, 2024

• Finalized IMU documentation

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  f0673a5

Commits on Sep 9, 2024

• Update rerun version

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  5cb0974