Replace AdjointMapJacobianQ with gtsam::Adjoint w/ Jacobians
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| // Calculations | ||
| gtsam::Pose3 T_21 = joint_->childTparent(q, H_q ? &T_21_H_q : nullptr); |
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@gchenfc you may want to re-add this in the wrenchEquivalence constraint.
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I'm adding it. I figured it out.
tests/testPoseFactor.cpp
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| Gaussian::shared_ptr cost_model = Gaussian::Covariance(gtsam::I_6x6); | ||
| gtsam::Key wTp_key = internal::PoseKey(1), wTc_key = internal::PoseKey(2), | ||
| q_key = internal::JointAngleKey(1); | ||
| size_t k = 777; |
Merged
varunagrawal
approved these changes
Jun 28, 2022
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After borglab/gtsam#885 merges, then this will use, e.g.
Pose3 T = joint->parentTchild(q, T_H_q); Vector6 twist_p = T.Adjoint(twist_c, H_T, H_twist_c); H_q = H_T * T_H_q;instead of:
This is just much more sane and generalizeable and uses more GTSAM code instead of custom code.