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move downstream functions from TU #449

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Merged
merged 2 commits into from
Jul 2, 2021
Merged

move downstream functions from TU #449

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0c2cbb4
move downstream functions from TU
dehann Jun 13, 2021
0ae5421
update compat for TU
dehann Jun 13, 2021
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2 changes: 1 addition & 1 deletion Project.toml
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Expand Up @@ -50,7 +50,7 @@ Requires = "1.0"
Rotations = "0.13, 1"
StaticArrays = "1"
TensorCast = "0.3.3, 0.4"
TransformUtils = "0.2.10"
TransformUtils = "0.2.11"
julia = "1.4"

[extras]
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9 changes: 9 additions & 0 deletions src/Deprecated.jl
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Expand Up @@ -88,6 +88,15 @@ end
## Remove as part of Manifolds.jl consolidation, #244
##==============================================================================

export veePose3, veePose

function veePose3(s::SE3)
TransformUtils.veeEuler(s)
end
function veePose(s::SE3)
TransformUtils.veeEuler(s)
end


# getManifolds(fctType::InstanceType{Pose2Pose2}) = getManifolds(getDomain(fctType))
# getManifolds(fctType::InstanceType{Pose2Point2}) = getManifolds(getDomain(fctType))
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12 changes: 12 additions & 0 deletions src/OdometryUtils.jl
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Expand Up @@ -132,6 +132,18 @@ function extractDeltaOdo(XX, YY, TH)
end


# DX = [transx, transy, theta]
function addPose2Pose2!(retval::Array{<:Real,1}, x::Array{<:Real,1}, dx::Array{<:Real,1})
X = SE2(x)
DX = SE2(dx)
se2vee!(retval, X*DX)
nothing
end
function addPose2Pose2(x::Array{<:Real,1}, dx::Array{<:Real,1})
retval = zeros(3)
addPose2Pose2!(retval, x, dx)
return retval
end


## Previous methods
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2 changes: 0 additions & 2 deletions src/RoME.jl
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Expand Up @@ -67,8 +67,6 @@ export
addAutoLandmBR!,
projNewLandm!,
malahanobisBR,
veePose3,
veePose,
\,
RangeAzimuthElevation,

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