Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix Pose2 preambleCache bug #562

Merged
merged 3 commits into from
Mar 24, 2022
Merged

fix Pose2 preambleCache bug #562

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
d4e8141
CF.cache not being set?
dehann Mar 16, 2022
f4d7610
fix Pose2 cache problem
dehann Mar 23, 2022
840c3fe
add q_hat/
dehann Mar 24, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
24 changes: 16 additions & 8 deletions src/factors/Pose2D.jl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,18 +20,26 @@ DFG.getManifold(::InstanceType{Pose2Pose2}) = getManifold(Pose2) # Manifolds.Spe

Pose2Pose2(::UniformScaling) = Pose2Pose2()

function preambleCache(dfg::AbstractDFG, vars::AbstractVector{<:DFGVariable}, pp::Pose2Pose2)
M = getManifold(pp)
(;manifold=M, ϵ0=identity_element(M), Xc=zeros(3), q̂=identity_element(M))
end

# Assumes X is a tangent vector
function (cf::CalcFactor{<:Pose2Pose2})(X, p, q)
@assert X isa ProductRepr "Pose2Pose2 expects measurement sample X to be a Manifolds tangent vector, not coordinate or point representation. Got X=$X"
M = getManifold(Pose2)
q̂ = Manifolds.compose(M, p, exp(M, identity_element(M, p), X)) #for groups
#TODO allocalte for vee! see Manifolds #412, fix for AD
Xc = zeros(3)
vee!(M, Xc, q, log(M, q, q̂))
return Xc
@assert X isa ProductRepr || X isa Manifolds.ArrayPartition "Pose2Pose2 expects measurement sample X to be a Manifolds tangent vector, not coordinate or point representation. Got X=$X"

M = cf.cache.manifold # getManifold(Pose2)
ϵ0 = cf.cache.ϵ0
q̂ = cf.cache.q̂

#for groups
Manifolds.compose!(M, q̂, p, exp(M, ϵ0, X))
fill!(cf.cache.Xc, 0.0)
vee!(M, cf.cache.Xc, q, log(M, q, q̂))
return cf.cache.Xc
end



# NOTE, serialization support -- will be reduced to macro in future
Expand Down