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4 Commits
Author SHA1 Message Date
Borong Yuanandmatlabbe ebba7e4878 Correct the Jacobian calculation of GravityFactor (#1692) 
* correct the Jacobian calculation of GravityFactor

* reimplement GravityFactor's analytical Jacobian

* adopt some minor changes from the GTSAM mainline

* use GTSAM's native AttitudeFactor instead of GravityFactor

* add missing header file and namespace prefix

* Removed GravityFactor. Fixed build with latest GTSAM version from source. Require c++17 when building with GTSAM>=4.3.0.

* Fixed cmake error when gtsam is not installed

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Co-authored-by: matlabbe <[email protected]>
 2026-04-26 15:33:05 -07:00
Borong Yuan f0ba56bf5e fix ros gtsam 4.2a9 build (#1108) 2023-08-07 07:33:23 -07:00
matlabbe 682d54725a Fixed build with gtsam 4.3.0 (#1033) 2023-05-14 13:14:53 -07:00
matlabbe b646c5e1db Marker priors (#859) 
* Added MarkerPriors parameter

* Fixed Marker/Priors format to use '|' instead ';'. Fixed landmark priors not used.

* Marker: added priors variance parameters

* g2o: refactored backward compatibility includes

* fixed build with old g2o
 2022-04-28 09:18:30 -04:00