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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
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Updates to ContactKinematicPoseFactor #226

Closed varunagrawal closed 3 years ago

varunagrawal commented 3 years ago
  1. AdjointMap is marked as potentially incorrect in gtsam/Pose3.h, hence I switched to an alternative form for jacobian computation that is well tested.
  2. Since we don't need the AdjointMap, can also avoid an unnecessary inverse operation, and directly use comTc instead of cTcom.
  3. Added some more tricks to optimize the code a bit more (e.g. for H_err_ calculation).
varunagrawal commented 3 years ago

@dellaert gentle reminder.

varunagrawal commented 3 years ago

@dellaert made the changes as discussed on our call.

varunagrawal commented 3 years ago

Reminder