├── .gitignore ├── Cargo.toml ├── README.md ├── examples └── dummy.rs └── src ├── codegen └── mod.rs ├── core ├── group.rs ├── manifold.rs ├── matrix.rs ├── mod.rs └── vector.rs ├── geometry ├── mod.rs ├── se3.rs └── so3.rs ├── inference ├── cluster_tree.rs ├── conditional.rs ├── expression │ ├── factor_graph.rs │ └── mod.rs ├── factor.rs ├── factor_graph.rs ├── junction_tree.rs └── mod.rs ├── lib.rs ├── linear ├── gaussian.rs ├── gaussian_factor_graph.rs ├── gaussian_like.rs ├── jacobian.rs ├── mod.rs └── noise_model │ ├── diagonal.rs │ ├── gaussian.rs │ ├── isotropic.rs │ ├── mod.rs │ └── unit.rs └── nonlinear ├── mod.rs └── nonlinear_factor.rs /.gitignore: -------------------------------------------------------------------------------- 1 | /target 2 | **/*.rs.bk 3 | Cargo.lock 4 | 5 | /.idea 6 | 7 | .vscode/ 8 | -------------------------------------------------------------------------------- /Cargo.toml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/Cargo.toml -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/README.md -------------------------------------------------------------------------------- /examples/dummy.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/examples/dummy.rs -------------------------------------------------------------------------------- /src/codegen/mod.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/codegen/mod.rs -------------------------------------------------------------------------------- /src/core/group.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/core/group.rs -------------------------------------------------------------------------------- /src/core/manifold.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/core/manifold.rs -------------------------------------------------------------------------------- /src/core/matrix.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/core/matrix.rs -------------------------------------------------------------------------------- /src/core/mod.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/core/mod.rs -------------------------------------------------------------------------------- /src/core/vector.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/core/vector.rs -------------------------------------------------------------------------------- /src/geometry/mod.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/geometry/mod.rs -------------------------------------------------------------------------------- /src/geometry/se3.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/geometry/se3.rs -------------------------------------------------------------------------------- /src/geometry/so3.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/geometry/so3.rs -------------------------------------------------------------------------------- /src/inference/cluster_tree.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/inference/cluster_tree.rs -------------------------------------------------------------------------------- /src/inference/conditional.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/inference/conditional.rs -------------------------------------------------------------------------------- /src/inference/expression/factor_graph.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/inference/expression/factor_graph.rs -------------------------------------------------------------------------------- /src/inference/expression/mod.rs: -------------------------------------------------------------------------------- 1 | pub mod factor_graph; 2 | -------------------------------------------------------------------------------- /src/inference/factor.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/inference/factor.rs -------------------------------------------------------------------------------- /src/inference/factor_graph.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/inference/factor_graph.rs -------------------------------------------------------------------------------- /src/inference/junction_tree.rs: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /src/inference/mod.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/inference/mod.rs -------------------------------------------------------------------------------- /src/lib.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/lib.rs -------------------------------------------------------------------------------- /src/linear/gaussian.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/linear/gaussian.rs -------------------------------------------------------------------------------- /src/linear/gaussian_factor_graph.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/linear/gaussian_factor_graph.rs -------------------------------------------------------------------------------- /src/linear/gaussian_like.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/linear/gaussian_like.rs -------------------------------------------------------------------------------- /src/linear/jacobian.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/linear/jacobian.rs -------------------------------------------------------------------------------- /src/linear/mod.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/linear/mod.rs -------------------------------------------------------------------------------- /src/linear/noise_model/diagonal.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/linear/noise_model/diagonal.rs -------------------------------------------------------------------------------- /src/linear/noise_model/gaussian.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/linear/noise_model/gaussian.rs -------------------------------------------------------------------------------- /src/linear/noise_model/isotropic.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/linear/noise_model/isotropic.rs -------------------------------------------------------------------------------- /src/linear/noise_model/mod.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/linear/noise_model/mod.rs -------------------------------------------------------------------------------- /src/linear/noise_model/unit.rs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CoreRC/rtsam/HEAD/src/linear/noise_model/unit.rs -------------------------------------------------------------------------------- /src/nonlinear/mod.rs: -------------------------------------------------------------------------------- 1 | pub mod nonlinear_factor; 2 | -------------------------------------------------------------------------------- /src/nonlinear/nonlinear_factor.rs: -------------------------------------------------------------------------------- 1 | 2 | --------------------------------------------------------------------------------