-gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries) Add scripts that will serve as examples of how to use the library. A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file. These executables will not be installed. They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled. They may also be built with 'make examples'.
+gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries buildWithAll) Add scripts that will serve as examples of how to use the library. A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file. These executables will not be installed. They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled. They may also be built with 'make examples'.
Usage example:
-gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib")
+gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib" ON)
Arguments:
globPatterns: The list of files or glob patterns from which to create unit tests, with
@@ -58,6 +58,7 @@ linkLibraries: The list of libraries to link to in addition to CppUnitLite.
excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp". Pass
an empty string "" if nothing needs to be excluded.
linkLibraries: The list of libraries to link to.
+buildWithAll: Build examples with `make` and/or `make all`
diff --git a/cmake/README.md b/cmake/README.md
index 569a401b1..4203b8d3c 100644
--- a/cmake/README.md
+++ b/cmake/README.md
@@ -52,11 +52,11 @@ Defines two useful functions for creating CTest unit tests. Also immediately cr
Pass an empty string "" if nothing needs to be excluded.
linkLibraries: The list of libraries to link to in addition to CppUnitLite.
-* `gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries)` Add scripts that will serve as examples of how to use the library. A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file. These executables will not be installed. They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled. They may also be built with 'make examples'.
+* `gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries buildWithAll)` Add scripts that will serve as examples of how to use the library. A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file. These executables will not be installed. They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled. They may also be built with 'make examples'.
Usage example:
- gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib")
+ gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib" ON)
Arguments:
@@ -66,6 +66,7 @@ Defines two useful functions for creating CTest unit tests. Also immediately cr
excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp". Pass
an empty string "" if nothing needs to be excluded.
linkLibraries: The list of libraries to link to.
+ buildWithAll: Build examples with `make` and/or `make all`
## GtsamMakeConfigFile
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
index f0975821f..05e0a13ef 100644
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -56,7 +56,7 @@ if (GTSAM_BUILD_DOCS)
if (GTSAM_BUILD_UNSTABLE)
list(APPEND doc_subdirs ${gtsam_unstable_doc_subdirs})
endif()
- if (GTSAM_BUILD_EXAMPLES)
+ if (GTSAM_BUILD_EXAMPLES_ALWAYS)
list(APPEND doc_subdirs examples)
endif()
diff --git a/doc/Hybrid.lyx b/doc/Hybrid.lyx
index c854a4845..44df81e39 100644
--- a/doc/Hybrid.lyx
+++ b/doc/Hybrid.lyx
@@ -86,7 +86,7 @@ Hybrid Inference
\end_layout
\begin_layout Author
-Frank Dellaert & Varun Agrawal
+Frank Dellaert
\end_layout
\begin_layout Date
@@ -264,12 +264,110 @@ If we take the log of
we get
\begin_inset Formula
\begin{equation}
-\log P(x|y,m)=\log P_{m}(x|y)=K_{gcm}-E_{gcm}(x,y).\label{eq:gm_log}
+\log P(x|y,m)=\log P_{m}(x|y)=K_{gc}(m)-E_{gcm}(x,y).\label{eq:gm_log}
\end{equation}
\end_inset
-Equating
+
+\end_layout
+
+\begin_layout Standard
+\noindent
+For conciseness, we will write
+\begin_inset Formula $K_{gc}(m)$
+\end_inset
+
+ as
+\begin_inset Formula $K_{gcm}$
+\end_inset
+
+.
+\end_layout
+
+\begin_layout Standard
+\SpecialChar allowbreak
+
+\end_layout
+
+\begin_layout Standard
+\noindent
+The key point here is that
+\family roman
+\series medium
+\shape up
+\size normal
+\emph off
+\bar no
+\strikeout off
+\xout off
+\uuline off
+\uwave off
+\noun off
+\color none
+
+\begin_inset Formula $K_{gm}$
+\end_inset
+
+
+\family default
+\series default
+\shape default
+\size default
+\emph default
+\bar default
+\strikeout default
+\xout default
+\uuline default
+\uwave default
+\noun default
+\color inherit
+ is the log-normalization constant for the complete
+\emph on
+GaussianMixture
+\emph default
+ across all values of
+\begin_inset Formula $m$
+\end_inset
+
+, and cannot be dependent on the value of
+\begin_inset Formula $m$
+\end_inset
+
+.
+ In contrast,
+\begin_inset Formula $K_{gcm}$
+\end_inset
+
+ is the log-normalization constant for a specific
+\emph on
+GaussianConditional
+\emph default
+mode (thus dependent on
+\begin_inset Formula $m$
+\end_inset
+
+) and can have differing values based on the covariance matrices for each
+ mode.
+ Thus to obtain a constant
+\begin_inset Formula $K_{gm}$
+\end_inset
+
+ which satisfies the invariant, we need to specify
+\begin_inset Formula $E_{gm}(x,y,m)$
+\end_inset
+
+ accordingly.
+\end_layout
+
+\begin_layout Standard
+\SpecialChar allowbreak
+
+\end_layout
+
+\begin_layout Standard
+\noindent
+By equating
\begin_inset CommandInset ref
LatexCommand eqref
reference "eq:gm_invariant"
@@ -289,7 +387,7 @@ noprefix "false"
\end_inset
- we see that this can be achieved by defining the error
+, we see that this can be achieved by defining the error
\begin_inset Formula $E_{gm}(x,y,m)$
\end_inset
@@ -541,9 +639,9 @@ noprefix "false"
:
\begin_inset Formula
-\[
-E_{mf}(y,m)=C+E_{gcm}(\bar{x},y)-K_{gcm}.
-\]
+\begin{equation}
+E_{mf}(y,m)=C+E_{gcm}(\bar{x},y)-K_{gcm}\label{eq:mixture_factor}
+\end{equation}
\end_inset
@@ -555,8 +653,25 @@ Unfortunately, we can no longer choose
\begin_inset Formula $m$
\end_inset
- to make the constant disappear.
- There are two possibilities:
+ to make the constant disappear, since
+\begin_inset Formula $C$
+\end_inset
+
+ has to be a constant applicable across all
+\begin_inset Formula $m$
+\end_inset
+
+.
+\end_layout
+
+\begin_layout Standard
+\SpecialChar allowbreak
+
+\end_layout
+
+\begin_layout Standard
+\noindent
+There are two possibilities:
\end_layout
\begin_layout Enumerate
diff --git a/doc/Hybrid.pdf b/doc/Hybrid.pdf
index 558be2902..182573412 100644
Binary files a/doc/Hybrid.pdf and b/doc/Hybrid.pdf differ
diff --git a/docker/ubuntu-gtsam-python/Dockerfile b/docker/ubuntu-gtsam-python/Dockerfile
index 85eed4d4e..4a7c4b37f 100644
--- a/docker/ubuntu-gtsam-python/Dockerfile
+++ b/docker/ubuntu-gtsam-python/Dockerfile
@@ -6,9 +6,6 @@ FROM borglab/ubuntu-gtsam:bionic
# Install pip
RUN apt-get install -y python3-pip python3-dev
-# Install python wrapper requirements
-RUN python3 -m pip install -U -r /usr/src/gtsam/python/requirements.txt
-
# Run cmake again, now with python toolbox on
WORKDIR /usr/src/gtsam/build
RUN cmake \
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 52d90deb9..280b82265 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -20,4 +20,4 @@ if (NOT GTSAM_USE_BOOST_FEATURES)
)
endif()
-gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;${Boost_PROGRAM_OPTIONS_LIBRARY}")
+gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;${Boost_PROGRAM_OPTIONS_LIBRARY}" ${GTSAM_BUILD_EXAMPLES_ALWAYS})
diff --git a/examples/GNCExample.cpp b/examples/GNCExample.cpp
new file mode 100644
index 000000000..8a4f0706f
--- /dev/null
+++ b/examples/GNCExample.cpp
@@ -0,0 +1,75 @@
+/* ----------------------------------------------------------------------------
+
+ * 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 GNCExample.cpp
+ * @brief Simple example showcasing a Graduated Non-Convexity based solver
+ * @author Achintya Mohan
+ */
+
+/**
+ * A simple 2D pose graph optimization example
+ * - The robot is initially at origin (0.0, 0.0, 0.0)
+ * - We have full odometry measurements for 2 motions
+ * - The robot first moves to (1.0, 0.0, 0.1) and then to (1.0, 1.0, 0.2)
+ */
+
+#include