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Add ImuFactorBatch: IMU chain marginalized inside the factor #33

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Merged
alexkorovko merged 5 commits into from
Oct 4, 2026
Merged

Add ImuFactorBatch: IMU chain marginalized inside the factor #33

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5d18d7d
Add ImuFactorBatch: IMU chain marginalized inside the factor
alexkorovko Oct 4, 2026
9ed0185
ImuFactorBatch: rig_from_world poses, as the reprojection and PnP fac…
alexkorovko Oct 4, 2026
b9d5626
ImuFactorBatch: review fixes, ImuParameters types, dtype checks
alexkorovko Oct 4, 2026
4d70352
Document ImuFactorBatch: guide, API reference, example
alexkorovko Oct 4, 2026
372cb56
fix discussions
alexkorovko Oct 4, 2026
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1 change: 1 addition & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -268,6 +268,7 @@ if(BUILD_TESTING)
tests/lie_kinematics_factor_batch_test.cpp
tests/quadrotor_factor_batch_test.cpp
tests/quadruped_factor_batch_test.cpp
tests/imu_factor_batch_test.cpp
tests/clearance_factor_batch_test.cpp
tests/augmented_lagrangian_nonlinear_test.cu
)
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1 change: 1 addition & 0 deletions cunls/cunls.h
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Expand Up @@ -53,6 +53,7 @@
#include "cunls/factor/dynamics/se3_kinematics_factor_batch.h"
#include "cunls/factor/dynamics/so3_kinematics_factor_batch.h"
#include "cunls/factor/halfspace_factor_batch.h"
#include "cunls/factor/imu_factor_batch.h"
#include "cunls/factor/information/information_factor_batch.h"
#include "cunls/factor/information/motion_prior_information.h"
#include "cunls/factor/motion/constant_acceleration_factor_batch.h"
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1 change: 1 addition & 0 deletions cunls/factor/CMakeLists.txt
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Expand Up @@ -20,6 +20,7 @@ add_library(cunls_factor OBJECT
dynamics/se3_kinematics_factor_batch.cu
dynamics/quadrotor_factor_batch.cu
dynamics/quadruped_factor_batch.cu
imu_factor_batch.cu
information/information_factor_batch_kernels.cu
information/motion_prior_information.cu
motion/constant_acceleration_se2_factor_batch.cu
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