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Updates to dogleg to work with newer Lie/Manifold/Group interface

release/4.3a0
Alex Cunningham 2011-11-05 23:01:50 +00:00
parent 1ec7d7e86e
commit 4284f07a61
5 changed files with 130 additions and 130 deletions
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2
gtsam/geometry/Pose3.cpp
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@ -109,7 +109,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
Pose3 retract(const Vector& d) { Pose3 retract(const Vector& d) {
return expmap(d); return retract(d);
} }
/* ************************************************************************* */ /* ************************************************************************* */

2
gtsam/nonlinear/DoglegOptimizerImpl.h
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@ -159,7 +159,7 @@ typename DoglegOptimizerImpl::IterationResult DoglegOptimizerImpl::Iterate(
cout << "Delta = " << Delta << ", dx_d_norm = " << result.dx_d.vector().norm() << endl; cout << "Delta = " << Delta << ", dx_d_norm = " << result.dx_d.vector().norm() << endl;
// Compute expmapped solution // Compute expmapped solution
const VALUES x_d(x0.expmap(result.dx_d, ordering)); const VALUES x_d(x0.retract(result.dx_d, ordering));
// Compute decrease in f // Compute decrease in f
result.f_error = f.error(x_d); result.f_error = f.error(x_d);

2
gtsam/nonlinear/NonlinearOptimizer-inl.h
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@ -306,7 +306,7 @@ namespace gtsam {
DoglegOptimizerImpl::IterationResult result = DoglegOptimizerImpl::Iterate( DoglegOptimizerImpl::IterationResult result = DoglegOptimizerImpl::Iterate(
parameters_->lambda_, DoglegOptimizerImpl::ONE_STEP_PER_ITERATION, *solver.eliminate(), parameters_->lambda_, DoglegOptimizerImpl::ONE_STEP_PER_ITERATION, *solver.eliminate(),
*graph_, *values_, *ordering_, error_); *graph_, *values_, *ordering_, error_);
shared_values newValues(new T(values_->expmap(result.dx_d, *ordering_))); shared_values newValues(new T(values_->retract(result.dx_d, *ordering_)));
cout << "newValues: " << newValues.get() << endl; cout << "newValues: " << newValues.get() << endl;
return newValuesErrorLambda_(newValues, result.f_error, result.Delta); return newValuesErrorLambda_(newValues, result.f_error, result.Delta);
} }

2
tests/testDoglegOptimizer.cpp
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@ -405,7 +405,7 @@ TEST(DoglegOptimizer, Iterate) {
DoglegOptimizerImpl::IterationResult result = DoglegOptimizerImpl::Iterate(Delta, DoglegOptimizerImpl::SEARCH_EACH_ITERATION, gbn, *fg, *config, *ord, fg->error(*config)); DoglegOptimizerImpl::IterationResult result = DoglegOptimizerImpl::Iterate(Delta, DoglegOptimizerImpl::SEARCH_EACH_ITERATION, gbn, *fg, *config, *ord, fg->error(*config));
Delta = result.Delta; Delta = result.Delta;
EXPECT(result.f_error < fg->error(*config)); // Check that error decreases EXPECT(result.f_error < fg->error(*config)); // Check that error decreases
simulated2D::Values newConfig(config->expmap(result.dx_d, *ord)); simulated2D::Values newConfig(config->retract(result.dx_d, *ord));
(*config) = newConfig; (*config) = newConfig;
DOUBLES_EQUAL(fg->error(*config), result.f_error, 1e-5); // Check that error is correctly filled in DOUBLES_EQUAL(fg->error(*config), result.f_error, 1e-5); // Check that error is correctly filled in
} }