Feature/se3vel #94
Feature/se3vel #94
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| @@ -68,6 +70,7 @@ typedef Eigen::Matrix<matData_t, 1,3> Mat13; | |||
| typedef Eigen::Matrix<matData_t, 1,4> Mat14; | |||
| typedef Eigen::Matrix<matData_t, 1,5> Mat15; | |||
| typedef Eigen::Matrix<matData_t, 1,6> Mat16; | |||
| typedef Eigen::Matrix<matData_t, 1,9> Mat19; | |||
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actually, you can also use the form Mat<1,9> or Vec<9> but i guess this was more convenient... I
| #include "mrob/SO3.hpp" | ||
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| namespace mrob{ | ||
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here requires a brief comment on the class, what kind of 5x5 structure is in here
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I think you can also add a simple example (in cpp) of composition of do the python bindings, in addition to some comments inside
Also, it does not compile: https://github.com/MobileRoboticsSkoltech/mrob/runs/7648022437?check_suite_focus=true#step:4:51
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| Mat3 SE3vel::left_jacobian(const Mat31& phi) |
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is this not inside SO3? If that is the case, should it be added directly there? I am ok adding an issue and changing SO3
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| Mat3 SE3vel::inv_left_jacobian(const Mat31 &phi) |
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Same case here, maybe this is better to be moved?
| #include "mrob/SE3vel.hpp" | ||
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| namespace mrob | ||
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Extended SE3 group added according to the Brossard paper "Associating Uncertainty to Extended Poses for on
Lie Group IMU Preintegration with Rotating Earth"