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Template EqF on Group and Manifold #2197

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eb95739
Template EqF on Group and Manifold
jenniferoum Jul 10, 2025
4ee2efe
Address EqF template comments, add compile time check for functions r…
jenniferoum Jul 30, 2025
7e12b62
Remove abc_eqf_lib from EquivariantFilter.h
jenniferoum Jul 31, 2025
11a2459
Set up EqF to inherit from LieGroupEKF
jenniferoum Sep 26, 2025
742c4e5
Move Eqf files and add unit test for ABC.h
jenniferoum Sep 26, 2025
c7da938
Fix AbcEqF include paths
jenniferoum Sep 26, 2025
70c723c
Add filter test
jenniferoum Oct 24, 2025
4c1f40d
Fix naming conventions, add prediction test
jenniferoum Oct 24, 2025
deb979d
addressed input/inputtype disparity, small-n
rohan-bansal Nov 7, 2025
4e35967
Generalize phi state transition matrix, code cleanup
jenniferoum Nov 14, 2025
9f9ad34
constructed parameters of update in base class, updated predict step
rohan-bansal Nov 11, 2025
49486be
Merge branch 'feature/equivariant-filter' into feature/equivariant-fi…
rohan-bansal Nov 14, 2025
a70bb78
Squashed commit
rohan-bansal Nov 14, 2025
b9cbad6
Merge pull request #4 from jenniferoum/feature/equivariant-filter-ref…
rohan-bansal Nov 14, 2025
0425db9
Cleanup
dellaert Nov 15, 2025
0d46f12
InputData gone, Measurement in Example only
dellaert Nov 15, 2025
9dbde14
Spelling/formatting
dellaert Nov 15, 2025
a53e1b6
Inlined definitions
dellaert Nov 15, 2025
9ad8989
Fix traits issue
dellaert Nov 15, 2025
1de2c70
Define Group via MatrixLieGroup
dellaert Nov 15, 2025
9d2ba91
Clean up product
dellaert Nov 15, 2025
911bdac
Added PowerLieGroup
dellaert Nov 15, 2025
c7cfe92
Add test for AdjointMap
dellaert Nov 15, 2025
7b5ee6c
Use size_t
dellaert Nov 15, 2025
725312b
Made groups Testable
dellaert Nov 15, 2025
4a2df97
Define Calibrations as power group
dellaert Nov 15, 2025
f8fdd70
Define Group as product
dellaert Nov 15, 2025
43fadb9
Move everything back into Geometry
dellaert Nov 16, 2025
f4c59a9
Dphi0_ not needed
dellaert Nov 16, 2025
0c6323c
Manifold traits
dellaert Nov 16, 2025
0a301e3
StateAction functor
dellaert Nov 16, 2025
46f7876
InputAction functor
dellaert Nov 16, 2025
eac04bf
OutputAction functor
dellaert Nov 16, 2025
78fc700
Lift functor
dellaert Nov 16, 2025
1b3c65f
Template output on OutputAction
dellaert Nov 16, 2025
b7c97d8
Use most basic predict
dellaert Nov 16, 2025
1d38d41
update takes applied OutputAction
dellaert Nov 16, 2025
1a589b3
Merge pull request #5 from jenniferoum/feature/EqF
jenniferoum Nov 18, 2025
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3 changes: 3 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
*.pyc
*.DS_Store
*.swp
*:Zone.Identifier
/examples/Data/dubrovnik-3-7-pre-rewritten.txt
/examples/Data/pose2example-rewritten.txt
/examples/Data/pose3example-rewritten.txt
Expand All @@ -25,3 +26,5 @@ xcode/
_build
GEMINI.md
doc/#*.lyx#
/cmake-build-debug/
.venv/
259 changes: 0 additions & 259 deletions examples/ABC.h
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