Flatten Computation Graph + Features

utiasASRL / steam

The Simultaneous Trajectory Estimation and Mapping (STEAM) Engine.

BSD 3-Clause "New" or "Revised" License

94 stars 14 forks source link

Closed keenan-burnett closed 1 year ago

keenan-burnett commented 1 year ago

Changes:

Flattened computation graphs for all interpolation, and prior factors.
Added acceleration interpolation to WNOJ
Added extrapolation to WNOJ, Singer
Rearranged code to make Singer a derived class of WNOJ since they share a lot in common