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utiasASRL
The Simultaneous Trajectory Estimation and Mapping (STEAM) Engine.
There seems to be a bunch of unused definitions triggering build warnings. Comment them out or delete them if they're not needed. ``` steam/include/steam/evaluator/blockauto/transform/TransformEvalOperations.hpp:22:32: warning: ‘steam::BlockAutomaticEvaluator::Ptr steam::se3::compose(const ConstPtr&, const ConstPtr&)’...
There is two occurrences of this error in the code: `throw std::runtime_error("Requested trajectory evaluator at an invalid time.");` - https://github.com/utiasASRL/steam/blob/develop/src/trajectory/SteamTrajInterface.cpp#L97 - https://github.com/utiasASRL/steam/blob/develop/src/trajectory/SteamTrajInterface.cpp#L119 It would be easier to debug if the...
`steam::se3::VectorSpaceStateVar()` does not exist causing problem when integrated in other data structure.
The code seems mostly documented, but there is no Doxygen taget to build it in the [CMakeLists.txt](https://github.com/utiasASRL/steam/blob/develop/CMakeLists.txt).
Here some possible enhancement related to [Manual.tex](https://github.com/utiasASRL/steam/blob/develop/doc/Manual.tex): - No documentation for the [Continuous-Time Trajectories](https://github.com/utiasASRL/steam/blob/develop/doc/Manual.tex#L369) - I'm missing some code example through the module descriptions instead of only at the end....
For example, see this line: https://github.com/utiasASRL/steam/blob/develop/samples/SimpleBAandTrajPrior.cpp#L57
Talking to Sean and Mike[0], it seems that the STEAM code currently does not allow for interpolation/extrapolation of the covariance, only the mean. We need to upgrade this to allow...
Created gyro preintegration terms for radar teach and repeat
Getting multiple failures when running ctest related to jacobian_test file. The following tests FAILED: 3 - ConstAcc.PoseInterpolator (Failed) 6 - Singer.PoseInterpolator (Failed) 11 - IMU.PreintIMUCostTerm (Failed) 14 - P2P.P2PGlobalSuper (Failed)...
