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150 Commits

Author SHA1 Message Date
parmaski
2a489b3b82 Fix: dead link URL in doc (#1087) 
* fix dead url links

* change link to MPC course

* remove dead link
 2025-01-24 13:28:12 +09:00
Atsushi Sakai
16c16b6ff5 clean up fast slam codes (#1012) 
* clean up fast slam codes

* clean up fast slam codes

* clean up fast slam codes
 2024-05-04 23:08:14 +09:00
Yi-Chen Zhang
0874d5023c Fix predict covariance (#973) 
* Fix predict covariance

* Remove trailing whitespace and unused return parameters
 2024-01-28 13:59:02 +09:00
Videh Patel
cc3fd0c55e Using util.angle_mod in all codes. #684 (#946) 
* switched to using utils.angle_mod()

* switched to using utils.angle_mod()

* renamed mod2pi to pi_2_pi

* Removed linting errors

* switched to using utils.angle_mod()

* switched to using utils.angle_mod()

* renamed mod2pi to pi_2_pi

* Removed linting errors

* annotation changes and round precision

* Reverted to mod2pi

---------

Co-authored-by: Videh Patel <videh.patel@fluxauto.xyz>
 2024-01-02 22:39:48 +09:00
Jeff Irion
3a8d93b2a5 Fix SE(2) inverse (#925) 
* Fix SE(2) inverse

* Add missing ]
 2023-10-25 23:02:14 +09:00
Atsushi Sakai
4d71470631 upgrade numpy to 1.25.0 and fix bugs (#861) 2023-07-01 15:30:32 +09:00
Yichao
c06e4909c8 fix: [ValueError] setting an array element with a sequence in [fast_slam2] (#851) 2023-06-19 18:02:16 +09:00
Atsushi Sakai
76b0d04a3c using pathlib based local module import (#722) 
* using pathlib based local module import

* remove unused import
 2022-09-11 07:21:37 +09:00
Jeff Irion
7716bdd248 Fix upper_triangular_matrix_to_full_matrix (#704) 2022-08-03 21:21:58 +09:00
Atsushi Sakai
dc879da7b2 Using utility rot_mat_2d (#683) 2022-05-22 16:53:14 +09:00
Atsushi Sakai
049709fd8b fix #581 (#582) 
* update docs

* update docs
 2021-11-27 22:13:55 +09:00
Atsushi Sakai
d34f3ca7fa clean up SLAM docs (#572) 
* clean up SLAM docs

* clean up SLAM docs

* clean up SLAM docs

* clean up SLAM docs

* clean up SLAM docs

* clean up SLAM docs

* clean up SLAM docs

* clean up SLAM docs

* clean up SLAM docs

* clean up SLAM docs

* clean up SLAM docs

* clean up SLAM docs

* clean up SLAM docs

* clean up SLAM docs
 2021-11-21 22:39:18 +09:00
Kajal
17920dcbf4 Changes in Slam/Ekf_slam.ipynb file, added a dtype=object statement to jF=np.array so it can render the output without numerous depreciation warnings (#552) 2021-11-12 19:29:36 +09:00
Trung Kien
06b2450591 Fix markdown equations syntax (#535) 2021-08-29 13:49:15 +09:00
Atsushi Sakai
3abc9c69e3 enable 3d plot 2021-04-02 20:53:26 +09:00
Shamil
bf2d9df83d Add ICP support for 3d point clouds (#465) 
* Add 3d support ICP

* icp_matching function returns R,T corresponding to 2D or 3D set of points
* update_homogeneuous_matrix - general operations for translation and rotation matrixes

* Add test for 3d point cloud (with 2d visualization)

* Separate test for 3d points to main_3d_points

* Add test for ICP 3d

* Correct style

* Add space

* Style correction

* Add more spaces

* Add 3d visualizing for ICP

* Style corrections

* Delete spaces

* Style correction

* remove space

* Separate plot drawing

* plot drawing in a separate function for both 2D and 3D versions
* figure creating before while loop

* Style correction

* Comment 3d plot drawing

Co-authored-by: Shamil GEMUEV <https://github.maf-roda.com/>
 2021-04-02 20:49:16 +09:00
Atsushi Sakai
b8f28cc6a3 fix deprecation warning for latest numpy (#480) 
* fix deprication version for latest numpy

* fix deprication version for latest numpy

* fix deprication version for latest numpy

* fix deprication version for latest numpy
 2021-02-10 22:02:51 +09:00
Shamil
d5ce0351b6 fix ICP negative dError. Issue #446 (#447) 2021-01-10 13:16:22 +09:00
Atsushi Sakai
4c5e3ccc9e fix VisibleDeprecation Warning (#358) 
* try coverage

* add python warning setting

* add random seed for test coverage
 2020-07-10 23:46:19 +09:00
Atsushi Sakai
b8afdb10d8 Using scipy.spatial.rotation matrix (#335) 2020-06-07 20:28:29 +09:00
Atsushi Sakai
26b2c552ef fix inaccurate covariance calculation to add a new landmark in FastSLAM1,2 (#334) 2020-06-05 21:21:35 +09:00
Atsushi Sakai
55478fa01d Merge pull request #302 from JeffLIrion/graphslam 
Add Graph SLAM documentation and SE(2) example
 2020-03-25 19:53:45 +09:00
Jeff Irion
b61a8d8fb5 Add Graph SLAM formulation PDF and SE(2) solver + example 2020-03-24 10:56:11 -07:00
Michael Dobler
e880b0efe4 Fix parameter of jacobian in EKF-SLAM 2020-03-24 12:59:49 +01:00
Atsushi Sakai
0fdd35c9bb Merge pull request #287 from YAOS5/master 
IMPROVEMENT: Fixed typo
 2020-02-07 20:03:19 +09:00
Peteski
b3af4fcf50 IMPROVEMENT: Fixed typo 2020-02-06 17:31:34 +11:00
Atsushi Sakai
994e0e3546 fixing. 2020-02-04 21:13:12 +09:00
Atsushi Sakai
a061e162d6 start fixing. 2020-02-04 20:41:51 +09:00
Peteski
aa7d48fa5b IMPROVEMENT: Fixed typo 2020-01-29 14:28:27 +11:00
Atsushi Sakai
ad5e1aa070 Merge pull request #259 from goktug97/close_on_key 
Close on key
 2019-12-14 21:33:26 +09:00
Göktuğ Karakaşlı
9ca7d8f148 add comment for stopping the simulation 2019-12-14 14:50:32 +03:00
Guillaume Jacquenot
02f14e425e Replaced sqrt(x**2+y**2) with hypot in SLAM/EKFSLAM/ekf_slam.py 2019-12-07 22:13:20 +01:00
Guillaume Jacquenot
f1926bdd9e Replaced sqrt(x**2+y**2) with hypot in SLAM/FastSLAM2/fast_slam1.py 2019-12-07 22:11:57 +01:00
Guillaume Jacquenot
1d03241d5d Replaced sqrt(x**2+y**2) with hypot in SLAM/FastSLAM2/fast_slam2.py 2019-12-07 22:11:28 +01:00
Guillaume Jacquenot
652c32fba9 Replaced sqrt(x**2+y**2) with hypot in SLAM/GraphBasedSLAM/graph_based_slam.py 2019-12-07 22:10:53 +01:00
Göktuğ Karakaşlı
f7e7651869 fix merge conflict 2019-12-07 14:39:56 +03:00
Göktuğ Karakaşlı
d019e416ba exit on key 2019-12-07 14:30:18 +03:00
Michael Dobler
99c784948d Use matrix multiplication instead of elementwise 2019-12-06 11:35:29 +01:00
Atsushi Sakai
0b07425d2e Code clen up 2019-11-30 20:05:52 +09:00
Michael Dobler
2fe00f8824 Fix jacobian of observation 2019-11-28 23:35:55 +01:00
Atsushi Sakai
0067577cbe remove PoseOptimizationSLAM 2019-11-17 14:33:24 +09:00
Atsushi Sakai
49ce57d6f8 Code cleanup. 2019-10-27 17:59:08 +09:00
Göktuğ Karakaşlı
342e671b34 optimize nearest_neighbor_assosiation 
- vectorize distance calculation
- append authors
 2019-10-27 11:14:15 +03:00
Atsushi Sakai
bf3b4680ec fix randn usage and code clean up 2019-10-12 20:48:04 +09:00
Atsushi Sakai
4264bde171 once remove the scripts for solving refactoring 2019-09-08 16:10:58 +09:00
Atsushi Sakai
52d836cff8 add PoseOptimizationSLAM3D gif and change dir name 2019-09-08 09:55:22 +09:00
Atsushi Sakai
ec2a275f6e release PoseOptimizationSLAM3D 2019-09-07 22:58:05 +09:00
Ryohei Sasaki
d147df5ba7 Make 3D graph correctly scaled 2019-09-07 15:02:36 +09:00
Ryohei Sasaki
01a5bcb419 Fix function dRV_dQuat of class Optimizer3D 2019-09-07 14:35:09 +09:00
Ryohei Sasaki
4beee9bb40 Fix Trailing newlines 2019-09-07 13:01:47 +09:00