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Fixed compile problems with NonlinearOptimizationParameters, removed redundant typedef

release/4.3a0
Alex Cunningham 2012-01-29 01:24:27 +00:00
parent 93b1619c81
commit 67aa0bf63d
13 changed files with 304 additions and 230 deletions
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.cproject
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@ -258,14 +258,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -292,6 +284,7 @@
</target> </target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget> <buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -299,6 +292,7 @@
</target> </target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget> <buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -346,6 +340,7 @@
</target> </target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget> <buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -353,6 +348,7 @@
</target> </target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget> <buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -360,6 +356,7 @@
</target> </target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget> <buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -375,11 +372,20 @@
</target> </target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree</buildTarget> <buildTarget>tests/testBayesTree</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -406,7 +412,6 @@
</target> </target>
<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget> <buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -478,7 +483,6 @@
</target> </target>
<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testInference.run</buildTarget> <buildTarget>testInference.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -486,7 +490,6 @@
</target> </target>
<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianFactor.run</buildTarget> <buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -494,7 +497,6 @@
</target> </target>
<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testJunctionTree.run</buildTarget> <buildTarget>testJunctionTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -502,7 +504,6 @@
</target> </target>
<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget> <buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -510,7 +511,6 @@
</target> </target>
<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget> <buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -580,22 +580,6 @@
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -612,6 +596,22 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -636,7 +636,15 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="check" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget> <buildTarget>check</buildTarget>
@ -644,6 +652,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testGeneralSFMFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testGeneralSFMFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -684,15 +700,7 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget> <buildTarget>check</buildTarget>
@ -700,14 +708,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -1038,6 +1038,7 @@
</target> </target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testErrors.run</buildTarget> <buildTarget>testErrors.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1493,7 +1494,6 @@
</target> </target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2DOriented.run</buildTarget> <buildTarget>testSimulated2DOriented.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1533,7 +1533,6 @@
</target> </target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2D.run</buildTarget> <buildTarget>testSimulated2D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1541,7 +1540,6 @@
</target> </target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated3D.run</buildTarget> <buildTarget>testSimulated3D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1908,7 +1906,6 @@
</target> </target>
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testGaussianISAM2</buildTarget> <buildTarget>tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1930,6 +1927,46 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>dist</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -2026,94 +2063,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>dist</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>tests/testSpirit.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>tests/testWrap.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -2178,6 +2127,62 @@
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="check install" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>tests/testSpirit.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>tests/testWrap.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
</buildTargets> </buildTargets>
</storageModule> </storageModule>
</cproject> </cproject>

2
examples/Pose2SLAMExample_advanced.cpp
View File

@ -68,7 +68,7 @@ int main(int argc, char** argv) {
Ordering::shared_ptr ordering = graph->orderingCOLAMD(*initial); Ordering::shared_ptr ordering = graph->orderingCOLAMD(*initial);
/* 4.2.2 set up solver and optimize */ /* 4.2.2 set up solver and optimize */
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
Optimizer optimizer(graph, initial, ordering, params); Optimizer optimizer(graph, initial, ordering, params);
Optimizer optimizer_result = optimizer.levenbergMarquardt(); Optimizer optimizer_result = optimizer.levenbergMarquardt();

2
examples/vSLAMexample/vSFMexample.cpp
View File

@ -146,7 +146,7 @@ int main(int argc, char* argv[]) {
// Optimize the graph // Optimize the graph
cout << "*******************************************************" << endl; cout << "*******************************************************" << endl;
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newVerbosity(Optimizer::Parameters::DAMPED); NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newVerbosity(Optimizer::Parameters::DAMPED);
visualSLAM::Optimizer::shared_values result = visualSLAM::Optimizer::optimizeGN(graph, initialEstimates, params); visualSLAM::Optimizer::shared_values result = visualSLAM::Optimizer::optimizeGN(graph, initialEstimates, params);
// Print final results // Print final results

2
gtsam/geometry/Makefile.am
View File

@ -18,7 +18,7 @@ sources += Point2.cpp Rot2.cpp Pose2.cpp Point3.cpp Pose3.cpp
check_PROGRAMS += tests/testPoint2 tests/testRot2 tests/testPose2 tests/testPoint3 tests/testRot3M tests/testRot3Q tests/testPose3 check_PROGRAMS += tests/testPoint2 tests/testRot2 tests/testPose2 tests/testPoint3 tests/testRot3M tests/testRot3Q tests/testPose3
# Cameras # Cameras
headers += GeneralCameraT.h Cal3_S2Stereo.h headers += GeneralCameraT.h Cal3_S2Stereo.h PinholeCamera.h
sources += Cal3_S2.cpp Cal3DS2.cpp Cal3Bundler.cpp CalibratedCamera.cpp SimpleCamera.cpp sources += Cal3_S2.cpp Cal3DS2.cpp Cal3Bundler.cpp CalibratedCamera.cpp SimpleCamera.cpp
check_PROGRAMS += tests/testCal3DS2 tests/testCal3_S2 tests/testCal3Bundler tests/testCalibratedCamera tests/testSimpleCamera check_PROGRAMS += tests/testCal3DS2 tests/testCal3_S2 tests/testCal3Bundler tests/testCalibratedCamera tests/testSimpleCamera

2
gtsam/geometry/PinholeCamera.h
View File

@ -120,7 +120,7 @@ namespace gtsam {
/// move a cameras according to d /// move a cameras according to d
PinholeCamera retract(const Vector& d) const { PinholeCamera retract(const Vector& d) const {
if ( d.size() == pose_.dim() ) if ((size_t) d.size() == pose_.dim() )
return PinholeCamera(pose().retract(d), calibration()) ; return PinholeCamera(pose().retract(d), calibration()) ;
else else
return PinholeCamera(pose().retract(d.head(pose().dim())), return PinholeCamera(pose().retract(d.head(pose().dim())),

4
gtsam/nonlinear/Makefile.am
View File

@ -22,9 +22,9 @@ check_PROGRAMS += tests/testValues tests/testKey tests/testOrdering
# Nonlinear nonlinear # Nonlinear nonlinear
headers += Key.h headers += Key.h
headers += NonlinearFactorGraph.h NonlinearFactorGraph-inl.h headers += NonlinearFactorGraph.h NonlinearFactorGraph-inl.h
headers += NonlinearOptimizer-inl.h NonlinearOptimization.h NonlinearOptimization-inl.h NonlinearOptimizationParameters.h headers += NonlinearOptimizer-inl.h NonlinearOptimization.h NonlinearOptimization-inl.h
headers += NonlinearFactor.h headers += NonlinearFactor.h
sources += NonlinearOptimizer.cpp Ordering.cpp DoglegOptimizerImpl.cpp sources += NonlinearOptimizer.cpp Ordering.cpp DoglegOptimizerImpl.cpp NonlinearOptimizationParameters.cpp
headers += DoglegOptimizer.h DoglegOptimizer-inl.h headers += DoglegOptimizer.h DoglegOptimizer-inl.h
# Nonlinear iSAM(2) # Nonlinear iSAM(2)

121
gtsam/nonlinear/NonlinearOptimizationParameters.cpp Normal file
View File

@ -0,0 +1,121 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file NonlinearOptimizationParameters.cpp
* @date Jan 28, 2012
* @author Alex Cunningham
* @brief Implements parameters structure
*/
#include <iostream>
#include <boost/make_shared.hpp>
#include <gtsam/nonlinear/NonlinearOptimizationParameters.h>
namespace gtsam {
using namespace std;
/* ************************************************************************* */
NonlinearOptimizationParameters::NonlinearOptimizationParameters() :
absDecrease_(1e-6), relDecrease_(1e-6), sumError_(0.0), maxIterations_(
100), lambda_(1e-5), lambdaFactor_(10.0), verbosity_(SILENT), lambdaMode_(
BOUNDED), useQR_(false) {
}
/* ************************************************************************* */
NonlinearOptimizationParameters::NonlinearOptimizationParameters(double absDecrease, double relDecrease,
double sumError, int iIters, double lambda,
double lambdaFactor, verbosityLevel v,
LambdaMode lambdaMode, bool useQR) :
absDecrease_(absDecrease), relDecrease_(relDecrease), sumError_(
sumError), maxIterations_(iIters), lambda_(lambda), lambdaFactor_(
lambdaFactor), verbosity_(v), lambdaMode_(lambdaMode), useQR_(useQR) {
}
/* ************************************************************************* */
NonlinearOptimizationParameters::NonlinearOptimizationParameters(
const NonlinearOptimizationParameters &parameters) :
absDecrease_(parameters.absDecrease_), relDecrease_(
parameters.relDecrease_), sumError_(parameters.sumError_), maxIterations_(
parameters.maxIterations_), lambda_(parameters.lambda_), lambdaFactor_(
parameters.lambdaFactor_), verbosity_(parameters.verbosity_), lambdaMode_(
parameters.lambdaMode_), useQR_(parameters.useQR_) {
}
/* ************************************************************************* */
void NonlinearOptimizationParameters::print(const std::string& s) const {
cout << "NonlinearOptimizationParameters " << s << endl;
cout << "absolute decrease threshold: " << absDecrease_ << endl;
cout << "relative decrease threshold: " << relDecrease_ << endl;
cout << " error sum threshold: " << sumError_ << endl;
cout << " maximum nr. of iterations: " << maxIterations_ << endl;
cout << " initial lambda value: " << lambda_ << endl;
cout << " factor to multiply lambda: " << lambdaFactor_ << endl;
cout << " verbosity level: " << verbosity_ << endl;
cout << " lambda mode: " << lambdaMode_ << endl;
cout << " use QR: " << useQR_ << endl;
}
/* ************************************************************************* */
NonlinearOptimizationParameters::shared_ptr
NonlinearOptimizationParameters::newLambda_(double lambda) const {
shared_ptr ptr(
boost::make_shared < NonlinearOptimizationParameters > (*this));
ptr->lambda_ = lambda;
return ptr;
}
/* ************************************************************************* */
NonlinearOptimizationParameters::shared_ptr
NonlinearOptimizationParameters::newVerbosity(verbosityLevel verbosity) {
shared_ptr ptr(boost::make_shared<NonlinearOptimizationParameters>());
ptr->verbosity_ = verbosity;
return ptr;
}
/* ************************************************************************* */
NonlinearOptimizationParameters::shared_ptr
NonlinearOptimizationParameters::newMaxIterations(int maxIterations) {
shared_ptr ptr(boost::make_shared<NonlinearOptimizationParameters>());
ptr->maxIterations_ = maxIterations;
return ptr;
}
/* ************************************************************************* */
NonlinearOptimizationParameters::shared_ptr
NonlinearOptimizationParameters::newLambda(double lambda) {
shared_ptr ptr(boost::make_shared<NonlinearOptimizationParameters>());
ptr->lambda_ = lambda;
return ptr;
}
/* ************************************************************************* */
NonlinearOptimizationParameters::shared_ptr
NonlinearOptimizationParameters::newDrecreaseThresholds(double absDecrease,
double relDecrease) {
shared_ptr ptr(boost::make_shared<NonlinearOptimizationParameters>());
ptr->absDecrease_ = absDecrease;
ptr->relDecrease_ = relDecrease;
return ptr;
}
/* ************************************************************************* */
NonlinearOptimizationParameters::shared_ptr
NonlinearOptimizationParameters::newFactorization(bool useQR) {
shared_ptr ptr(boost::make_shared<NonlinearOptimizationParameters>());
ptr->useQR_ = useQR;
return ptr;
}
} // \namespace gtsam

76
gtsam/nonlinear/NonlinearOptimizationParameters.h
View File

@ -18,8 +18,8 @@
#pragma once #pragma once
#include <string>
#include <boost/shared_ptr.hpp> #include <boost/shared_ptr.hpp>
#include <boost/make_shared.hpp>
#include <boost/serialization/nvp.hpp> #include <boost/serialization/nvp.hpp>
namespace gtsam { namespace gtsam {
@ -32,7 +32,6 @@ namespace gtsam {
typedef boost::shared_ptr<NonlinearOptimizationParameters> shared_ptr; typedef boost::shared_ptr<NonlinearOptimizationParameters> shared_ptr;
typedef NonlinearOptimizationParameters This; typedef NonlinearOptimizationParameters This;
typedef boost::shared_ptr<NonlinearOptimizationParameters> sharedThis;
double absDecrease_; ///< threshold for the absolute decrease per iteration double absDecrease_; ///< threshold for the absolute decrease per iteration
@ -75,98 +74,47 @@ namespace gtsam {
/// @{ /// @{
/// Default constructor /// Default constructor
NonlinearOptimizationParameters() : NonlinearOptimizationParameters();
absDecrease_(1e-6), relDecrease_(1e-6), sumError_(0.0), maxIterations_(
100), lambda_(1e-5), lambdaFactor_(10.0), verbosity_(SILENT), lambdaMode_(
BOUNDED), useQR_(false) {
}
/// Constructor from doubles /// Constructor from doubles
NonlinearOptimizationParameters(double absDecrease, double relDecrease, NonlinearOptimizationParameters(double absDecrease, double relDecrease,
double sumError, int iIters = 100, double lambda = 1e-5, double sumError, int iIters = 100, double lambda = 1e-5,
double lambdaFactor = 10, verbosityLevel v = SILENT, double lambdaFactor = 10, verbosityLevel v = SILENT,
LambdaMode lambdaMode = BOUNDED, bool useQR = false) : LambdaMode lambdaMode = BOUNDED, bool useQR = false);
absDecrease_(absDecrease), relDecrease_(relDecrease), sumError_(
sumError), maxIterations_(iIters), lambda_(lambda), lambdaFactor_(
lambdaFactor), verbosity_(v), lambdaMode_(lambdaMode), useQR_(useQR) {
}
/// Copy constructor /// Copy constructor
NonlinearOptimizationParameters( NonlinearOptimizationParameters(
const NonlinearOptimizationParameters &parameters) : const NonlinearOptimizationParameters &parameters);
absDecrease_(parameters.absDecrease_), relDecrease_(
parameters.relDecrease_), sumError_(parameters.sumError_), maxIterations_(
parameters.maxIterations_), lambda_(parameters.lambda_), lambdaFactor_(
parameters.lambdaFactor_), verbosity_(parameters.verbosity_), lambdaMode_(
parameters.lambdaMode_), useQR_(parameters.useQR_) {
}
/// @} /// @}
/// @name Standard Interface /// @name Standard Interface
/// @{ /// @{
/// print /// print
void print(const std::string& s="") const { void print(const std::string& s="") const;
cout << "NonlinearOptimizationParameters " << s << endl;
cout << "absolute decrease threshold: " << absDecrease_ << endl;
cout << "relative decrease threshold: " << relDecrease_ << endl;
cout << " error sum threshold: " << sumError_ << endl;
cout << " maximum nr. of iterations: " << maxIterations_ << endl;
cout << " initial lambda value: " << lambda_ << endl;
cout << " factor to multiply lambda: " << lambdaFactor_ << endl;
cout << " verbosity level: " << verbosity_ << endl;
cout << " lambda mode: " << lambdaMode_ << endl;
cout << " use QR: " << useQR_ << endl;
}
/// a copy of old instance except new lambda /// a copy of old instance except new lambda
sharedThis newLambda_(double lambda) const { shared_ptr newLambda_(double lambda) const;
sharedThis ptr(
boost::make_shared < NonlinearOptimizationParameters > (*this));
ptr->lambda_ = lambda;
return ptr;
}
/// @} /// @}
/// @name Advanced Interface /// @name Advanced Interface
/// @{ /// @{
/// a copy of old instance except new verbosity /// a copy of old instance except new verbosity
static sharedThis newVerbosity(verbosityLevel verbosity) { static shared_ptr newVerbosity(verbosityLevel verbosity);
sharedThis ptr(boost::make_shared<NonlinearOptimizationParameters>());
ptr->verbosity_ = verbosity;
return ptr;
}
/// a copy of old instance except new maxIterations /// a copy of old instance except new maxIterations
static sharedThis newMaxIterations(int maxIterations) { static shared_ptr newMaxIterations(int maxIterations);
sharedThis ptr(boost::make_shared<NonlinearOptimizationParameters>());
ptr->maxIterations_ = maxIterations;
return ptr;
}
/// a copy of old instance except new lambda /// a copy of old instance except new lambda
static sharedThis newLambda(double lambda) { static shared_ptr newLambda(double lambda);
sharedThis ptr(boost::make_shared<NonlinearOptimizationParameters>());
ptr->lambda_ = lambda;
return ptr;
}
/// a copy of old instance except new thresholds /// a copy of old instance except new thresholds
static sharedThis newDrecreaseThresholds(double absDecrease, static shared_ptr newDrecreaseThresholds(double absDecrease,
double relDecrease) { double relDecrease);
sharedThis ptr(boost::make_shared<NonlinearOptimizationParameters>());
ptr->absDecrease_ = absDecrease;
ptr->relDecrease_ = relDecrease;
return ptr;
}
/// a copy of old instance except new QR flag /// a copy of old instance except new QR flag
static sharedThis newFactorization(bool useQR) { static shared_ptr newFactorization(bool useQR);
sharedThis ptr(boost::make_shared<NonlinearOptimizationParameters>());
ptr->useQR_ = useQR;
return ptr;
}
/// @} /// @}

10
gtsam/slam/tests/testGeneralSFMFactor.cpp
View File

@ -187,7 +187,7 @@ TEST( GeneralSFMFactor, optimize_defaultK ) {
// Create an ordering of the variables // Create an ordering of the variables
shared_ptr<Ordering> ordering = getOrdering(X,L); shared_ptr<Ordering> ordering = getOrdering(X,L);
NonlinearOptimizationParameters::sharedThis params ( NonlinearOptimizationParameters::shared_ptr params (
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT)); new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
Optimizer optimizer(graph, values, ordering, params); Optimizer optimizer(graph, values, ordering, params);
Optimizer optimizer2 = optimizer.levenbergMarquardt(); Optimizer optimizer2 = optimizer.levenbergMarquardt();
@ -232,7 +232,7 @@ TEST( GeneralSFMFactor, optimize_varK_SingleMeasurementError ) {
const double reproj_error = 1e-5; const double reproj_error = 1e-5;
shared_ptr<Ordering> ordering = getOrdering(X,L); shared_ptr<Ordering> ordering = getOrdering(X,L);
NonlinearOptimizationParameters::sharedThis params ( NonlinearOptimizationParameters::shared_ptr params (
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT)); new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
Optimizer optimizer(graph, values, ordering, params); Optimizer optimizer(graph, values, ordering, params);
Optimizer optimizer2 = optimizer.levenbergMarquardt(); Optimizer optimizer2 = optimizer.levenbergMarquardt();
@ -275,7 +275,7 @@ TEST( GeneralSFMFactor, optimize_varK_FixCameras ) {
const double reproj_error = 1e-5 ; const double reproj_error = 1e-5 ;
shared_ptr<Ordering> ordering = getOrdering(X,L); shared_ptr<Ordering> ordering = getOrdering(X,L);
NonlinearOptimizationParameters::sharedThis params ( NonlinearOptimizationParameters::shared_ptr params (
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-3, 10, NonlinearOptimizationParameters::SILENT)); new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-3, 10, NonlinearOptimizationParameters::SILENT));
Optimizer optimizer(graph, values, ordering, params); Optimizer optimizer(graph, values, ordering, params);
@ -335,7 +335,7 @@ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) {
const double reproj_error = 1e-5 ; const double reproj_error = 1e-5 ;
shared_ptr<Ordering> ordering = getOrdering(X,L); shared_ptr<Ordering> ordering = getOrdering(X,L);
NonlinearOptimizationParameters::sharedThis params ( NonlinearOptimizationParameters::shared_ptr params (
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-3, 10, NonlinearOptimizationParameters::SILENT)); new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-3, 10, NonlinearOptimizationParameters::SILENT));
Optimizer optimizer(graph, values, ordering, params); Optimizer optimizer(graph, values, ordering, params);
@ -378,7 +378,7 @@ TEST( GeneralSFMFactor, optimize_varK_BA ) {
const double reproj_error = 1e-5 ; const double reproj_error = 1e-5 ;
shared_ptr<Ordering> ordering = getOrdering(X,L); shared_ptr<Ordering> ordering = getOrdering(X,L);
NonlinearOptimizationParameters::sharedThis params ( NonlinearOptimizationParameters::shared_ptr params (
new NonlinearOptimizationParameters(1e-2, 1e-2, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT)); new NonlinearOptimizationParameters(1e-2, 1e-2, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
Optimizer optimizer(graph, values, ordering, params); Optimizer optimizer(graph, values, ordering, params);

10
gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
View File

@ -188,7 +188,7 @@ TEST( GeneralSFMFactor, optimize_defaultK ) {
// Create an ordering of the variables // Create an ordering of the variables
shared_ptr<Ordering> ordering = getOrdering(X,L); shared_ptr<Ordering> ordering = getOrdering(X,L);
NonlinearOptimizationParameters::sharedThis params ( NonlinearOptimizationParameters::shared_ptr params (
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT)); new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
Optimizer optimizer(graph, values, ordering, params); Optimizer optimizer(graph, values, ordering, params);
Optimizer optimizer2 = optimizer.levenbergMarquardt(); Optimizer optimizer2 = optimizer.levenbergMarquardt();
@ -233,7 +233,7 @@ TEST( GeneralSFMFactor, optimize_varK_SingleMeasurementError ) {
const double reproj_error = 1e-5; const double reproj_error = 1e-5;
shared_ptr<Ordering> ordering = getOrdering(X,L); shared_ptr<Ordering> ordering = getOrdering(X,L);
NonlinearOptimizationParameters::sharedThis params ( NonlinearOptimizationParameters::shared_ptr params (
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT)); new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
Optimizer optimizer(graph, values, ordering, params); Optimizer optimizer(graph, values, ordering, params);
Optimizer optimizer2 = optimizer.levenbergMarquardt(); Optimizer optimizer2 = optimizer.levenbergMarquardt();
@ -276,7 +276,7 @@ TEST( GeneralSFMFactor, optimize_varK_FixCameras ) {
const double reproj_error = 1e-5 ; const double reproj_error = 1e-5 ;
shared_ptr<Ordering> ordering = getOrdering(X,L); shared_ptr<Ordering> ordering = getOrdering(X,L);
NonlinearOptimizationParameters::sharedThis params ( NonlinearOptimizationParameters::shared_ptr params (
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-3, 10, NonlinearOptimizationParameters::SILENT)); new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-3, 10, NonlinearOptimizationParameters::SILENT));
Optimizer optimizer(graph, values, ordering, params); Optimizer optimizer(graph, values, ordering, params);
@ -332,7 +332,7 @@ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) {
const double reproj_error = 1e-5 ; const double reproj_error = 1e-5 ;
shared_ptr<Ordering> ordering = getOrdering(X,L); shared_ptr<Ordering> ordering = getOrdering(X,L);
NonlinearOptimizationParameters::sharedThis params ( NonlinearOptimizationParameters::shared_ptr params (
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-3, 10, NonlinearOptimizationParameters::SILENT)); new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-3, 10, NonlinearOptimizationParameters::SILENT));
Optimizer optimizer(graph, values, ordering, params); Optimizer optimizer(graph, values, ordering, params);
@ -374,7 +374,7 @@ TEST( GeneralSFMFactor, optimize_varK_BA ) {
const double reproj_error = 1e-5 ; const double reproj_error = 1e-5 ;
shared_ptr<Ordering> ordering = getOrdering(X,L); shared_ptr<Ordering> ordering = getOrdering(X,L);
NonlinearOptimizationParameters::sharedThis params ( NonlinearOptimizationParameters::shared_ptr params (
new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT)); new NonlinearOptimizationParameters(1e-5, 1e-5, 0.0, 100, 1e-5, 10, NonlinearOptimizationParameters::SILENT));
Optimizer optimizer(graph, values, ordering, params); Optimizer optimizer(graph, values, ordering, params);

6
gtsam/slam/tests/testPose2SLAM.cpp
View File

@ -162,7 +162,7 @@ TEST(Pose2Graph, optimize) {
*ordering += "x0","x1"; *ordering += "x0","x1";
typedef NonlinearOptimizer<pose2SLAM::Graph, pose2SLAM::Values> Optimizer; typedef NonlinearOptimizer<pose2SLAM::Graph, pose2SLAM::Values> Optimizer;
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
Optimizer optimizer0(fg, initial, ordering, params); Optimizer optimizer0(fg, initial, ordering, params);
Optimizer optimizer = optimizer0.levenbergMarquardt(); Optimizer optimizer = optimizer0.levenbergMarquardt();
@ -200,7 +200,7 @@ TEST(Pose2Graph, optimizeThreePoses) {
*ordering += "x0","x1","x2"; *ordering += "x0","x1","x2";
// optimize // optimize
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
pose2SLAM::Optimizer optimizer0(fg, initial, ordering, params); pose2SLAM::Optimizer optimizer0(fg, initial, ordering, params);
pose2SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt(); pose2SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt();
@ -243,7 +243,7 @@ TEST_UNSAFE(Pose2SLAM, optimizeCircle) {
*ordering += "x0","x1","x2","x3","x4","x5"; *ordering += "x0","x1","x2","x3","x4","x5";
// optimize // optimize
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
pose2SLAM::Optimizer optimizer0(fg, initial, ordering, params); pose2SLAM::Optimizer optimizer0(fg, initial, ordering, params);
pose2SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt(); pose2SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt();

2
gtsam/slam/tests/testPose3SLAM.cpp
View File

@ -76,7 +76,7 @@ TEST(Pose3Graph, optimizeCircle) {
// Choose an ordering and optimize // Choose an ordering and optimize
shared_ptr<Ordering> ordering(new Ordering); shared_ptr<Ordering> ordering(new Ordering);
*ordering += "x0","x1","x2","x3","x4","x5"; *ordering += "x0","x1","x2","x3","x4","x5";
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15);
pose3SLAM::Optimizer optimizer0(fg, initial, ordering, params); pose3SLAM::Optimizer optimizer0(fg, initial, ordering, params);
pose3SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt(); pose3SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt();

4
tests/testNonlinearEquality.cpp
View File

@ -201,7 +201,7 @@ TEST ( NonlinearEquality, allow_error_optimize ) {
// optimize // optimize
boost::shared_ptr<Ordering> ord(new Ordering()); boost::shared_ptr<Ordering> ord(new Ordering());
ord->push_back(key1); ord->push_back(key1);
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-5, 1e-5); NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-5, 1e-5);
PoseOptimizer optimizer(graph, init, ord, params); PoseOptimizer optimizer(graph, init, ord, params);
PoseOptimizer result = optimizer.levenbergMarquardt(); PoseOptimizer result = optimizer.levenbergMarquardt();
@ -237,7 +237,7 @@ TEST ( NonlinearEquality, allow_error_optimize_with_factors ) {
// optimize // optimize
boost::shared_ptr<Ordering> ord(new Ordering()); boost::shared_ptr<Ordering> ord(new Ordering());
ord->push_back(key1); ord->push_back(key1);
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-5, 1e-5); NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-5, 1e-5);
PoseOptimizer optimizer(graph, init, ord, params); PoseOptimizer optimizer(graph, init, ord, params);
PoseOptimizer result = optimizer.levenbergMarquardt(); PoseOptimizer result = optimizer.levenbergMarquardt();