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NavState between constraint #1153

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tdallapiazza opened this issue Mar 29, 2022 · 2 comments · May be fixed by #1613
Open

NavState between constraint #1153

tdallapiazza opened this issue Mar 29, 2022 · 2 comments · May be fixed by #1613

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@tdallapiazza
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tdallapiazza commented Mar 29, 2022 •
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Feature

As the NavState is just a 9D manifold, it doesn't inherit the LieGroup's convenient methods like Between. In working only with Navstate (mainly around imuFactor2) having a between for NavState would be cool for loop closures.

Motivation

Actually introducing a BetweenFactor<NavState> raise an error as traits<NaveState> has no Between method.

Pitch

Adding the method in traits<NavState> so that BetweenFactor<NavState> or if using expression between(NavStat_(key1), NavStat_(key2)) could be used in the graph.
@dellaert
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Interestingly, there are a few papers that define a Lie group "SE+(2)", which is just NavState plus a group operation I think. We could look into upgrading NavState and connecting to those papers...

@varunagrawal
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Barrau20icra provides a good way to deal with this.

@varunagrawal varunagrawal linked a pull request Sep 4, 2023 that will close this issue
Add Lie group capabilities to NavState #1613
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Add Lie group capabilities to NavState borglab/gtsam
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@varunagrawal @dellaert @tdallapiazza