Get Sim2 working #1090
Get Sim2 working #1090
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| #include <gtsam/slam/KarcherMeanFactor-inl.h> | ||
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| namespace gtsam { | ||
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| using std::vector; | ||
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| namespace { | ||
| namespace internal { |
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thanks for the PR @varunagrawal. Appreciate you taking the time to help out here.
Was curious the rationale for the internal namespace (why its needed and the naming)
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I followed Frank's suggestion from your PR.
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I am assuming @varunagrawal this is because you need Sim3 for your A-> B :-)
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Yup exactly :)
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@johnwlambert I merged in develop since some tests were failing because of that. It also seems that |
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Okay I resolved all the tests 🎉 |
| world and egovehicle frame translated by 15 meters w.r.t. each other | ||
| """ | ||
| Rx90 = Rot2.fromDegrees(90) | ||
| R180 = Rot2.fromDegrees(180) |
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@varunagrawal everything looks great. Was curious why you changed this value from 90 to 180, though. Both are valid, as I recall, for the purpose of the test.
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The translation values don't make sense otherwise. If we rotate by 90 degrees one of the two trajectories should change in the y axis.
Fixed all the pending stuff in Sim2, plus also did some refactor of Sim3 to reflect comments in Sim2's original PR.