wiki.md

Developers Documentation

High Level Requirements

Wiki to formalize some of the overall objectives.

Standardizing the API, verbNoun Definitions:

The API derives from a set of standard definitions for verbs and Nouns, please see the developer wiki regarding these definitions.

NvaCJL Dictionary

TODO split https://github.com/JuliaRobotics/IncrementalInference.jl/wiki/Tree-Based-Initialization

Adjective
Kinematic	A translate-rotate coordinate system representing motions not concerned with continuous forces or the dynamic constraints.
Dynamic	A expontial coordinate system representing motions governed by dynamic constraints, including realistic forces acting on a body/device

DistributedFactorGraphs.jl Docs

These are more hardy developer docs, such as the lower level data management API etc.

Design Wiki, Data and Architecture

More developer zone material will be added here in the future, but for the time being check out the Caesar Wiki.

Tree and CSM References

Major upgrades to how the tree and CSM works is tracked in IIF issue 889.

Coding Templates

We've started to organize useful coding templates that are not available elsewhere (such as JuliaDocs) in a more local developers

• Coding Templates Wiki I.
• Coding Templates Wiki II

Shortcuts for vscode IDE

See wiki

Parametric Solve Whiteboard

https://github.com/JuliaRobotics/IncrementalInference.jl/wiki/Parametric-Solve-Whiteboard

Early PoC work on Tree based Initialization

Variable Ordering Links

Wiki for variable ordering links.