[WIP] CT-GP-Factors #2392

Draft

holmesco wants to merge 102 commits intoborglab:developfrom

utiasASRL:develop

Commits on Jul 18, 2025

WNOA Motion Prior Factor + Lost-in-the-woods dataset
holmesco
committed

Commits on Jul 30, 2025

- Extended WNOA Factor to handle vector spaces
SvenLilge
committed
Implemented unit tests for Point1 manifold
SvenLilge
committed
Added WNOA unit tests for Point1, Point2, Point3 manifolds
SvenLilge
committed
Implemented GiantGlassOfMilk dataset example
SvenLilge
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Added plotting script for GiantGlassOfMilk example
SvenLilge
committed
- WNOA Motion Prior Factor for Vector Spaces
SvenLilge
committed
Inputs for LITW example are now coming from a yaml file for easy tuning (required yaml-cpp install). Added gt trajectory to plots.
holmesco
committed
Added steam and lgmath to docker container. Started building steam regression tests.
holmesco
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steam running for odometry and WNOA prior for LostInTheWoods
holmesco
committed

Commits on Jul 31, 2025

STEAM implementation matches GTSAM for Lost in the woods with odometry and WNOA factors.
holmesco
committed

Commits on Aug 2, 2025

Added bearing-range measurements into STEAM version of the problem.
holmesco
committed

Commits on Aug 3, 2025

Moved bearing-range error class into steam repo
holmesco
committed

Commits on Aug 4, 2025

Commits on Aug 5, 2025

small adjustments to interpolator to work for Point1/2/3 manifolds
SvenLilge
committed

Commits on Aug 6, 2025

moved WNOA files to nonlinear subdir
holmesco
committed

Commits on Aug 7, 2025

small changes
Daniel Guo
committed

Commits on Aug 12, 2025

Commits on Aug 13, 2025

Interpolator fixes + covariance computation
holmesco
authored

Commits on Aug 14, 2025

started Interpolator unit tests
Daniel Guo
committed

Commits on Aug 20, 2025

interpolator unit tests
Daniel Guo
committed
added extrapolation for the mean, and unit tests for extrapolation
Daniel Guo
committed
move covariance interpolation inside of interpolatePoseAndVelocity (no more computing Psi and Lambda twice)
Daniel Guo
committed
added covariance extrapolation
Daniel Guo
committed

Commits on Aug 21, 2025

Commits on Aug 27, 2025

ordered sets of StateData structure update (#11)
holmesco
authored
In Interpolator
Daniel Guo
committed

Commits on Aug 28, 2025

Commits on Sep 8, 2025

Commits on Sep 10, 2025

Clean up interpolation function (#23)
holmesco
authored

Commits on Sep 15, 2025

Further runtime optimizations
SvenLilge
committed

Commits on Sep 20, 2025

Added detailed timing analysis to investigate bottlenecks
SvenLilge
committed

Commits on Oct 13, 2025

Merge pull request #24 from utiasASRL/cache_interpolated_values
holmesco
authored

Commits on Oct 20, 2025

[WIP] Interpolator speed up (#26)
holmesco
authored

Commits on Dec 6, 2025

Cache interpolated values (#27)
SvenLilge
authored

Commits on Jan 6, 2026

API cleanup (#28)
SvenLilge
authored

Commits on Feb 6, 2026

Commits on Feb 11, 2026

Commits on Feb 12, 2026

Added comments for caching mappings from inner keys to outer keys (this is important for interpolation and Jacobian chain rules)
SvenLilge
committed
Added comments for WNOAFactorGraph interpolation function. Specifically added details on what data we precomputed and how we can save on compute by exploiting shared variables
SvenLilge
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Merge branch 'develop' into cache_interpolated_values

SvenLilge
authored and
Daniel Guo
committed
added option for slam in A3. cleaned up matlab file for A3.
Daniel Guo
committed
revert a comment
Daniel Guo
committed
removed dead code
Daniel Guo
committed
removed dead results
Daniel Guo
committed

Commits on Feb 13, 2026

Rename Interpolator to WNOAInterpolator
holmesco
committed

Commits on Feb 14, 2026