{"action":"created","issue":{"url":"https://api.github.com/repos/JuliaRobotics/RoME.jl/issues/60","repository_url":"https://api.github.com/repos/JuliaRobotics/RoME.jl","labels_url":"https://api.github.com/repos/JuliaRobotics/RoME.jl/issues/60/labels{/name}","comments_url":"https://api.github.com/repos/JuliaRobotics/RoME.jl/issues/60/comments","events_url":"https://api.github.com/repos/JuliaRobotics/RoME.jl/issues/60/events","html_url":"https://github.com/JuliaRobotics/RoME.jl/issues/60","id":328616975,"node_id":"MDU6SXNzdWUzMjg2MTY5NzU=","number":60,"title":"DynPoint? 4DOF point?","user":{"login":"mc2922","id":11624503,"node_id":"MDQ6VXNlcjExNjI0NTAz","avatar_url":"https://avatars3.githubusercontent.com/u/11624503?v=4","gravatar_id":"","url":"https://api.github.com/users/mc2922","html_url":"https://github.com/mc2922","followers_url":"https://api.github.com/users/mc2922/followers","following_url":"https://api.github.com/users/mc2922/following{/other_user}","gists_url":"https://api.github.com/users/mc2922/gists{/gist_id}","starred_url":"https://api.github.com/users/mc2922/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mc2922/subscriptions","organizations_url":"https://api.github.com/users/mc2922/orgs","repos_url":"https://api.github.com/users/mc2922/repos","events_url":"https://api.github.com/users/mc2922/events{/privacy}","received_events_url":"https://api.github.com/users/mc2922/received_events","type":"User","site_admin":false},"labels":[{"id":952437719,"node_id":"MDU6TGFiZWw5NTI0Mzc3MTk=","url":"https://api.github.com/repos/JuliaRobotics/RoME.jl/labels/feature","name":"feature","color":"cc28c1","default":false},{"id":952438294,"node_id":"MDU6TGFiZWw5NTI0MzgyOTQ=","url":"https://api.github.com/repos/JuliaRobotics/RoME.jl/labels/proposed%20code","name":"proposed code","color":"303bb2","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2018-06-01T18:25:41Z","updated_at":"2018-06-03T16:28:31Z","closed_at":null,"author_association":"NONE","body":"Dyn point is not the most satisfying name, since we may want a point also with accelerations?\r\nDOF is misleading\r\nHave to think about the name\r\n\r\nWhat about ->\r\n```julia \r\nstruct Point4DOF <: IncrementalInference.InferenceVariable\r\n  dims::Int\r\n  labels::Vector{String}\r\n  Point4() = new(5, String[\"Point4\";]) #x,y,̇x, ̇y,t\r\nend\r\n\r\nmutable struct Point4Point4 <: IncrementalInference.FunctorPairwise where {T <: Distribution}\r\n  z::T\r\n  Point4Point4{T}() where {T <: Distribution} = new{T}()\r\n  Point4Point4(z1::T) where {T <: Distribution} = new{T}(z1)\r\n  Point4Point4(mean::Vector{Float64}, cov::Array{Float64,2}) where {T <: Distribution} = new{Distributions.MvNormal}(MvNormal(mean, cov))\r\nend\r\ngetSample(p4p4::Point4Point4, N::Int=1) = (rand(s.z,N), )\r\nfunction (p4p4::Point4Point4)(res::Array{Float64},\r\n      idx::Int,\r\n      meas::Tuple,\r\n      xi::Array{Float64,5},\r\n      xj::Array{Float64,5}  )\r\n  Z = meas[1][1,idx]\r\n  Xi, Xj = xj[:,idx],xj[:,idx]\r\n  dt = Xj[5] - Xi[5] #implies Xj occured after Xi- potential issue?\r\n  res = z - (Xj - (Xi+dt*[1 1 0 0]*Xi))\r\n  nothing\r\nend\r\n```"},"comment":{"url":"https://api.github.com/repos/JuliaRobotics/RoME.jl/issues/comments/394173874","html_url":"https://github.com/JuliaRobotics/RoME.jl/issues/60#issuecomment-394173874","issue_url":"https://api.github.com/repos/JuliaRobotics/RoME.jl/issues/60","id":394173874,"node_id":"MDEyOklzc3VlQ29tbWVudDM5NDE3Mzg3NA==","user":{"login":"dehann","id":6412556,"node_id":"MDQ6VXNlcjY0MTI1NTY=","avatar_url":"https://avatars0.githubusercontent.com/u/6412556?v=4","gravatar_id":"","url":"https://api.github.com/users/dehann","html_url":"https://github.com/dehann","followers_url":"https://api.github.com/users/dehann/followers","following_url":"https://api.github.com/users/dehann/following{/other_user}","gists_url":"https://api.github.com/users/dehann/gists{/gist_id}","starred_url":"https://api.github.com/users/dehann/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dehann/subscriptions","organizations_url":"https://api.github.com/users/dehann/orgs","repos_url":"https://api.github.com/users/dehann/repos","events_url":"https://api.github.com/users/dehann/events{/privacy}","received_events_url":"https://api.github.com/users/dehann/received_events","type":"User","site_admin":false},"created_at":"2018-06-03T16:28:31Z","updated_at":"2018-06-03T16:28:31Z","author_association":"COLLABORATOR","body":"See progress here:\r\nhttps://github.com/JuliaRobotics/RoME.jl/pull/63/files#diff-cdc452d2efd9ea5d01d2ddd3ed447286R1\r\n\r\nPending change to solver first:\r\nJuliaRobotics/IncrementalInference.jl#102\r\n\r\nMerging sequence to prepare RoME.jl first, then merge to METADATA.jl with new release, then changes in IncrementalInference.jl can be tagged and merged to METADATA.jl also. "}}
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