8ee16c9018
Comments for Paul
2014-10-19 11:19:09 +02:00
eac76cd0f0
Some progress on defining interface
2014-10-19 11:18:36 +02:00
6e142184cc
Implemented is_manifold and dimension for all types in testExpressionFactor
2014-10-19 00:35:25 +02:00
c32d2bb3b2
Fixed comments
2014-10-18 23:48:51 +02:00
d436d99146
Moved stuff to Manifold.h
2014-10-18 23:25:25 +02:00
fcda501ee2
double as manifold. No more LieScalar !
2014-10-18 18:13:33 +02:00
ed6a2b6eff
Charts !!!!
2014-10-18 17:11:28 +02:00
9c97b1d8a0
Some more refactoring
2014-10-18 16:45:04 +02:00
66b3081603
localCoordinates and retract
2014-10-18 15:02:22 +02:00
10cfd47404
TangentVector meta-function
2014-10-18 14:29:40 +02:00
ec69949f43
Point2 specialized
2014-10-18 14:22:01 +02:00
f08dc6c031
More boost-style traits
2014-10-18 14:16:24 +02:00
4c33444415
Snavely tested
2014-10-18 13:16:44 +02:00
bdf12b14b9
Add Snavely cost function
2014-10-18 12:35:02 +02:00
7018afdd58
Slight refactor of numerical derivatives
2014-10-18 12:34:05 +02:00
2972671064
Use boost::bind to avoid code duplication
2014-10-18 12:29:14 +02:00
db037c96c5
Implemented manifold_traits to allow numerical derivatives wrpt Matrix arguments
2014-10-18 12:12:25 +02:00
2cbba15573
ceres style functor
2014-10-18 00:29:18 +02:00
02d25f6658
New tests on traceSize
2014-10-16 15:07:05 +02:00
0bcca2c386
Drastic reduction in allocations at ExpressionFactor construction by having dims constructed imperatively, and using it for both keys_ and dimensions_
2014-10-16 14:16:58 +02:00
944422e295
Only ExpressionFactor needs dimensions! Also, add dimensions at construction -> speeds up linearize.
2014-10-16 11:15:47 +02:00
3413b98331
New storage sizes
2014-10-15 14:30:36 +02:00
79ff0c54f9
createUnknowns
2014-10-15 10:38:54 +02:00
649478f186
Should work but seg-faults
2014-10-15 01:19:14 +02:00
9b1c9bbf37
Allocate temporary matrix on the stack rather tahn on heap, and give VerticalBlockMatrix a view on it.
2014-10-15 00:56:06 +02:00
c88b2a5902
Fixed bizarre link erro as well as off-by-1 bug
2014-10-15 00:34:28 +02:00
0f055f7910
Pass matrix to VerticalBlockMatrix constructor
2014-10-15 00:28:53 +02:00
625b939b66
Another very significant speed-up of reverseAD pipeline, by template specialization of the leaf case for fixed matrices. Unfortunately, while this sped up reverse AD for our SFM kernel by 300%, reverseAD was only 6%, and is now 2% of total time. So, time to look elsewhere.
...
Oh, and, it is clear that the Identity matrix for Leaf only expressions is completely known at compile time: Eigen::Matrix<double, T::dimension, T::dimension>::Identity(). That should nicely speed up many a PriorFactor (replacement).
2014-10-14 23:40:21 +02:00
baaeaacabe
Made dimensions constant property. Now performance is ***blazing***, way past custom factors.
2014-10-14 17:46:57 +02:00
c971207abf
Switched to vector for dimensions
2014-10-14 17:16:31 +02:00
1c3f328fb2
Successful switch to Blocks !
2014-10-14 15:43:41 +02:00
f3e1561105
Prepare VerticalBlockMatrix for filling
2014-10-14 11:13:49 +02:00
4c76f39009
Now uses dimensions
2014-10-14 09:55:34 +02:00
d8d94d0c34
dimensions implemented and tested
2014-10-14 09:53:47 +02:00
781cc6daa9
keys now from expression_
2014-10-14 08:59:01 +02:00
0a41b0a027
Moved meta-programming tests to testExpressionMeta.cpp
2014-10-14 08:53:16 +02:00
ef5bf03c81
Clean up
2014-10-13 23:04:30 +02:00
70f0caf0e3
Experimenting w Fusion
2014-10-13 22:50:47 +02:00
dda91df6e1
On the way to full fusion: Optional meta-function now separate from Jacobian.
2014-10-13 18:32:58 +02:00
ba0b68110f
Boost Fusion needed to access values :-(
2014-10-13 13:56:51 +02:00
a52ff52941
Try some meta-transforms
2014-10-13 13:34:00 +02:00
1c1695353e
Now we can apply ExecutionTrace and Expression as meta-functions
2014-10-13 13:04:37 +02:00
c11d7885e1
Comments
2014-10-13 11:55:16 +02:00
74269902d7
Big collapse now realized all the way through
2014-10-13 11:37:47 +02:00
da0e5fe52f
The great collapse: instead of two recursively defined classes, there is now only one. The Record class is now a (recursive) inner class.
2014-10-13 10:50:05 +02:00
bc9e11f43c
Pre-big collapse: prototype recursively defined inner Record2 type
2014-10-13 10:10:46 +02:00
7fde47c48b
No more JacobianTA typedefs -> all use Jacobian<T,A> now.
2014-10-13 09:25:06 +02:00
7848d74928
Detailed explanation of recursive class composition pattern.
...
Jacobian type now defined in argument.
2014-10-13 08:49:12 +02:00
7f621af54a
Fixed bug
2014-10-13 00:57:11 +02:00
2e8d868cd2
keys have been implemented
2014-10-13 00:37:46 +02:00
a9d9fcd241
FunctionalNode inherited for all three functional ExpressionNode sub-classes
2014-10-13 00:31:03 +02:00
8100d89094
So much better as methods
2014-10-12 23:57:08 +02:00
55cc4ba56c
Switched names of fold result and meta-function that is folded over
2014-10-12 23:31:58 +02:00
ef21a4ba4a
Major re-org in preparation of recursive Functional nodes
2014-10-12 23:03:33 +02:00
408be628d2
Small change in meta-programming, big improvement in clarity
2014-10-12 22:17:21 +02:00
107bcd8bb4
Going forwards, we default to reverse :-)
2014-10-12 22:04:40 +02:00
4d1eb05c7d
Passing JacobianMap as an argument now..
2014-10-12 20:16:08 +02:00
dc541f1051
made traceSize an instance variable
2014-10-12 18:52:12 +02:00
7a5f48f6dd
Fixed typo in assert
2014-10-12 12:20:12 +02:00
fea2eb0b5f
Inlined VerticalBlockMatrix construction
2014-10-12 11:05:43 +02:00
ed62271f81
Dealing with constrained noise model
2014-10-12 10:52:07 +02:00
86d3e559e6
Merge branch 'feature/BAD' into feature/BAD_linearize
2014-10-11 23:07:40 +02:00
c9f80536c0
Added a constraint model
2014-10-11 23:07:23 +02:00
3c6f7a42e6
Merge branch 'feature/BAD' into feature/BAD_linearize: easier trace/dTdA access
2014-10-11 22:31:43 +02:00
c776e87f78
Refactoring for readability/sanity
2014-10-11 21:33:07 +02:00
0c7ea68f2f
Now overwriting linearize as preparation for direct VericalBlockMatrix
2014-10-11 17:05:53 +02:00
1bac83381f
Merge remote-tracking branch 'origin/feature/BAD_meta' into feature/BAD: Now the Record structures are recursively generated using template meta-programming, basically mpl::fold
...
Conflicts:
gtsam_unstable/nonlinear/Expression-inl.h
2014-10-11 15:20:12 +02:00
88f9a423c5
Numbered types avoid ambiguity
2014-10-11 14:19:39 +02:00
ecf6462a25
Victory!! Unit tests work!
2014-10-11 13:07:58 +02:00
599e232d1d
traceSize, two tests work
2014-10-11 12:11:22 +02:00
9585823d5d
...but works with correct size !
2014-10-11 11:32:52 +02:00
deed7b8018
Unary prints, but still-faults downstream
2014-10-11 11:30:06 +02:00
05f78b6dca
Re-factor, allow traceExecution
2014-10-11 11:29:42 +02:00
1f692638f5
Accessing matrices works
2014-10-11 11:04:39 +02:00
69b69a0bc8
placement new works! And sophisticated Trace::print
2014-10-11 11:03:35 +02:00
eef2d49e8d
First prototype, segfaults
2014-10-11 10:27:30 +02:00
e09e24964a
No need to have all of T as template parameter
2014-10-11 09:00:03 +02:00
820988b04e
Do casting inside Trace
2014-10-11 08:52:24 +02:00
52fc6f2db4
Testing old trace
2014-10-11 08:41:39 +02:00
820e9553ee
TestBinaryExpression friend
2014-10-11 08:17:46 +02:00
a2d2d82e0e
some namespace management
2014-10-11 07:39:13 +02:00
23485a0e71
New and consistent naming: ExecutionTrace = whole tree, CallRecord = local information left by the function.
2014-10-10 17:45:39 +02:00
ae93dd9869
Commented out repeated arguments
2014-10-10 13:57:37 +02:00
58bbce482d
Ternary works, same caveat
2014-10-10 13:33:13 +02:00
406467e341
Binary works, but it's ugly and does not work for repeated types
2014-10-10 13:29:56 +02:00
24714e48c5
Works for Unary !
2014-10-10 12:38:26 +02:00
f8468bd596
Recursion done
2014-10-10 12:31:40 +02:00
40fc6f5c03
Working prototype
2014-10-10 12:29:01 +02:00
dd1b931802
Successfully defined Jacobian
2014-10-10 12:03:13 +02:00
732ff54b83
More experiments
2014-10-10 11:41:01 +02:00
8e264f4289
Attempt at defining Trace recursively
2014-10-09 14:38:16 +02:00
5e5457b390
Renamed entry point to startReverseAD to emphasize it is only called once
2014-10-09 13:42:43 +02:00
563c4d214c
Renamed BADFactor -> ExpressionFactor
2014-10-09 13:00:56 +02:00
7e069191e5
Slight refactor
2014-10-09 10:58:46 +02:00
a38a0ae9e1
Some comments
2014-10-09 00:21:10 +02:00
9ebe1e6d10
Super-speedup by specializing to 2-dimensional output (for now). Using some template magic.
2014-10-08 23:50:17 +02:00
abb92632b8
Empty derived destructors are not needed
2014-10-08 17:32:46 +02:00
6a1bc6e242
Documentation
2014-10-08 17:28:33 +02:00
ce2dcaeb3b
Tagged union, lightweight
2014-10-08 15:39:59 +02:00
390842e1f7
Put Trace in front
2014-10-08 13:58:15 +02:00
ba9faa68b6
New Leaf/noise tests
2014-10-08 13:56:54 +02:00
c4a92acde1
Avoid argument temporaries
2014-10-07 19:35:44 +02:00
3c1c9c6d12
Switch to pointers - nice improvement
2014-10-07 18:11:12 +02:00
e4392c0a3b
JacobianTrace no longer templated
2014-10-07 16:11:55 +02:00
83d77271d9
Ternary now fixed
2014-10-07 13:04:04 +02:00
613cb0bb12
Binary functions now take fixed Jacobians
2014-10-07 01:01:46 +02:00
e48b38ca21
Fixing uncalibrate (does not yet compile)
2014-10-06 15:45:26 +02:00
e5c3f4228a
Some fixed size in UnaryExpression
2014-10-06 14:22:18 +02:00
5c96b7f38d
Made naming more suggestive of AD process rather than generic H1,H2...
2014-10-06 13:19:01 +02:00
0ed96dda33
Avoid alloc and copy
2014-10-06 12:14:15 +02:00
c748fdb404
Re-did with move semantics. Dangerously imperative.
2014-10-06 12:13:52 +02:00
69f74014aa
add traceExecution in TernaryExpression
2014-10-05 17:40:11 -04:00
cc3c0fcfec
add trace structure for reverse AD in TernaryExpression
2014-10-05 17:38:09 -04:00
0421d05d44
add forward() in TernaryExpression
2014-10-05 17:36:53 -04:00
0a7db2d252
Merge remote-tracking branch 'origin/feature/BAD' into feature/BAD
2014-10-05 16:16:19 -04:00
40565564f5
TernaryExpression is added
2014-10-05 16:09:24 -04:00
632810ff9a
Now only inline add, for performance
2014-10-05 21:53:40 +02:00
33c1d072a4
Add switch between inline add and JacobianMap as a new class.
2014-10-05 21:49:30 +02:00
5b13306104
Split out starting the AD process vs. propagating it, is more efficient than starting with a useless identity matrix
2014-10-05 19:27:52 +02:00
ff9dd8eb8d
Removed some obsolete code
2014-10-05 19:09:16 +02:00
caf742d5e1
Better names
2014-10-05 17:20:55 +02:00
001504a432
JacobianTrace base, and avoid copying JacobianMaps.
2014-10-05 17:12:38 +02:00
2718662467
Removed debug printing
2014-10-05 15:01:36 +02:00
fdf9c10b42
Implemented value and now testBADFactor also runs
2014-10-05 15:00:10 +02:00
8db2cd17fc
Finished constant Trace and *everything* just works!!! Amazing :-)
2014-10-05 13:41:20 +02:00
7c19542245
Leaf Trace compiles
2014-10-05 13:37:51 +02:00
75445307b2
Unary Trace done
2014-10-05 13:33:23 +02:00
8e527a2251
Binary Trace compiles, runs
2014-10-05 13:27:41 +02:00
303d37a716
Separate hierarchy
2014-10-05 11:22:14 +02:00
6fb10a5de9
Rename, emphasizing is forward AD
2014-10-03 21:13:34 +02:00
a5b92f0342
MUCH simpler by just using boost::bind to turn methods into functions
2014-10-03 13:18:25 +02:00
bdf5451565
Typedefs
2014-10-03 12:52:35 +02:00
c8dd361080
Common base class BinaryExpression
2014-10-03 12:48:28 +02:00
987b123ec9
NullaryMethodExpression and UnaryFunctionExpression, derived from UnaryExpression
2014-10-03 12:40:26 +02:00
aefad1e548
MAJOR refactor: I now use separate functions for value (only) and "augmented", for combined value-derivatives. The latter returns a new templated class, Augmented<T>.
2014-10-03 10:25:02 +02:00
da4cfe6fdc
ternary test
2014-10-02 23:39:17 +02:00
59af1c4b6d
Major refactor that does not ask for derivatives when argument is constant. Also split combine into double add, added print, and moved those two statics to ExpressionNode.
2014-10-02 23:28:19 +02:00
166396d6f6
Added tests with constant Expression
2014-10-02 23:26:59 +02:00
e7e7b3806f
New test with constant argument
2014-10-02 20:28:37 +02:00
df17758469
Assume H pre-allocated as usual, and *move* Jacobians to avoid allocations
2014-10-02 13:30:16 +02:00
ebb091d390
BadFactor is now a functioning NoiseModelFactor
2014-10-02 11:01:39 +02:00
ce53346a9e
Added Symbol versions
2014-10-01 13:12:07 +02:00
0d94eeb480
Created expressions.h header
2014-10-01 11:25:49 +02:00
254f8c5f75
Possible naming convention
2014-10-01 11:01:38 +02:00
a6c1ba19cc
Concise version
2014-10-01 10:53:35 +02:00
d45250a989
Fixed dim
2014-10-01 10:45:57 +02:00
d935172ac5
Tightened
2014-10-01 10:43:03 +02:00
8f6eae922a
Tightened/cleaned up
2014-10-01 10:36:24 +02:00
837b2a6bc0
Fixed the member function with very ugly syntax
2014-09-30 23:13:07 +02:00
c68c2d2dac
Prototype code for passing methods. Does not work (uncomment line 61)
2014-09-30 13:19:44 +02:00
ae17f8a82f
Some refactoring, new static method "combine"
2014-09-30 13:00:37 +02:00
374140abb8
Moved all BAD stuff to nonlinear
2014-09-30 12:34:03 +02:00
1aa7b570f9
Added BADFactor header and created new test
2014-09-30 12:30:15 +02:00
0450c58d66
silence warning
2014-05-06 12:06:07 -04:00
ed8b1eeaa1
Converted another loop to use insert like was fixed in the previous commit (wasn't a problem this time but am matching the style to the other file)
2014-02-24 09:29:30 -05:00
3e0904e250
remove unneeded/wasteful loop
2014-02-23 23:12:25 -05:00
1770f44ad9
Fixed a number of clang warnings
2014-02-23 18:53:48 -05:00
661a157553
Working on standardizing/simplifying building unit tests and examples. Much simpler cmake function to add a glob of tests, doing away with convenience libraries, and removing other options that we never change from their defaults.
2014-02-13 01:34:31 -05:00
4b8c17ec77
Changed target name to 'gtsam' instead of 'gtsam-shared' and 'gtsam-static'. Modified CMake options to only allow building either static or shared, but not both. Enabled GTSAM_BUILD_TYPE_POSTFIXES by default on all platforms.
2014-01-30 14:41:25 -05:00
d7dc390130
Particle factor scaffold
2013-12-19 17:14:40 +00:00
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
5f87cbea7f
New SymmetricBlockMatrix interface - should be safer as all exposed functions use symmetric matrix expressions and the internal uninitialized values below the diagonal are never exposed.
2013-11-26 23:49:53 +00:00
a27f97dec4
Fix in ConcurrentFilteringAndSmoothing - one elimination call was using the default elimination function instead of the one from the parameters.
2013-11-21 15:42:17 +00:00
ec78d54f37
Removed old Index typedef and IndexFormatter
2013-11-08 16:35:28 +00:00
5defdbe73f
Fixed compile problems on windows
2013-11-05 16:06:10 +00:00
fccdc46180
Fixed some compile errors related to rename
2013-10-25 19:16:15 +00:00
def9b84e45
Added virtual solve method to NonlinearOptimizer that you can override, e.g., with Ceres
...
See example in testNonlinearOptimizer
As part of this, I also merged SuccessiveLinearizationParams into NonlinearOptimizerParams, which is now in its own separate file NonlinearOptimizerParams.h
2013-10-25 18:27:43 +00:00
87f9a2ab03
Fix Vector_() to Vec() in gtsam_unstable/nonlinear
2013-10-22 04:35:21 +00:00
e799c9ffa9
tabs converted to two spaces
2013-10-10 17:52:57 +00:00
43d56b120a
From Hmf6_unordered: getISAM2 and variables Reeliminated/Relinearized (d97dcacf186900d12003c399e7fe55e03ca34e3f)
2013-10-03 19:52:05 +00:00
0c7b2ec062
From Hmf6_unordered: Public isam2 - to be changed (10834edc1698d941be3203e8e6bea0bd4a573443)
2013-10-03 19:52:01 +00:00
bf40956592
Merged from Hmf6_unordered 970392249a8c50153f24594c9c81acb740cedd06
2013-10-03 19:51:56 +00:00
ae958ad0f5
Fixed testConcurrentIncrementalFilter
2013-08-19 22:07:32 +00:00
568335d21f
In progress fixing filter/smoother unit tests
2013-08-19 21:33:13 +00:00
c6cf4d2dab
Removed use of convenience libraries for tests - wasn't really supported in current version
2013-08-19 15:32:21 +00:00
4b12d6f794
Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization
2013-08-19 15:32:16 +00:00
f9dcf31c2b
Fixing examples and some tests for gtsam_unstable/nonlinear. testConcurrentIncrementalFilter doesn't compile and is disabled, testIncrementalFixedLagSmoother is enabled and builds, but fails.
2013-08-19 15:32:08 +00:00
ce9e9b4a91
Added "TODO: correct?" comments
2013-08-16 21:16:07 +00:00
192962d96f
Fixed a couple problems in converted ConcurrentIncrementalFilter and ConcurrentIncrementalSmoother
2013-08-16 21:16:06 +00:00
3701dc6322
Changes in CFS for unordered (still work in progress)
2013-08-15 22:12:09 +00:00
6337a65ce7
Updated Incremental Smoother to unordered
2013-08-15 22:12:07 +00:00
e4f65eacf8
Updating ConcurrentIncrementalSmoother/Filter to work with unordered (work in progress)
2013-08-14 19:12:24 +00:00
4dfa2506ab
ConcurrentFilterAndSmoother updated and working with the unordered version of GTSAM
2013-08-13 22:30:08 +00:00
d9c9682f6e
Merge branch 'svn/trunk'
...
Conflicts:
gtsam_unstable/slam/BetweenFactorEM.h
gtsam_unstable/slam/tests/testBetweenFactorEM.cpp
2013-08-12 21:47:36 +00:00
f1c9322d37
Removed old VerticalBlockView and SymmetricBlockView (replaced with VerticalBlockMatrix and SymmetricBlockMatrix)
2013-08-12 21:41:05 +00:00
7a027be7e5
Fixed unit tests compiling on windows
2013-08-12 16:25:13 +00:00
0db8e446d5
Disabled gtsam_unstable/nonlinear filters and smoothers
2013-08-11 18:40:39 +00:00
4585fd1caa
Merge branch 'svn/trunk'
...
Conflicts:
gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp
gtsam/nonlinear/ISAM2.cpp
gtsam/nonlinear/ISAM2.h
gtsam/slam/tests/testBetweenFactor.cpp
gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
gtsam_unstable/slam/SmartProjectionFactor.h
2013-08-11 18:16:56 +00:00
f41d4b879b
Added the ability to remove factors from ConcurrentIncrementalFilter
2013-08-10 17:16:47 +00:00
34a3a6ea49
Added the ability to remove factors from the ConcurrentBatchFilter
2013-08-10 17:16:38 +00:00
ebc6a66c3a
Updated to the marginal factor calculation in BatchFixedLagSmoother to
...
be more efficient
2013-08-10 17:16:31 +00:00
12d003229a
Fixed missing '}'
2013-08-10 17:16:19 +00:00
c33c6e2c70
Added unit tests for Concurrent Incremental Filter and Smoother
2013-08-10 17:15:48 +00:00
915dc98bd2
Updated unit tests for Concurrent Batch Filter and Smoother
2013-08-10 17:15:38 +00:00
f656e93202
Created Concurrent Incremental Filter and Smoother
2013-08-10 17:15:31 +00:00
663c598591
Updated Concurrent Batch Filter and Smoother to the latest versions
2013-08-10 17:15:20 +00:00
1dc0e6192b
Added accessor functions for internal data structures to
...
IncrementalFixedLagSmoother
2013-08-10 17:15:03 +00:00
4a4e16485c
Making more things in gtsam_unstable compile
2013-08-08 20:08:54 +00:00
883c870dff
Removed unnecessary summarization files in gtsam_unstable, restricted compilation of gtsam_unstable for components needing iSAM2 - core gtsam_unstable library builds
2013-08-08 20:08:52 +00:00
e2f8dd866d
Merge branch 'svn/trunk'
...
Conflicts:
gtsam/linear/GaussianBayesTree.cpp
gtsam/linear/GaussianBayesTree.h
gtsam/linear/VectorValues.h
gtsam/linear/tests/testVectorValues.cpp
gtsam_unstable/nonlinear/sequentialSummarization.cpp
2013-08-06 18:33:24 +00:00
2d60d2cdfa
Fixed more unit tests
2013-08-06 18:04:40 +00:00
e39d100b6a
Made most global unit tests compile, includes dogleg, iterative, kalman filter, etc
2013-08-06 13:44:22 +00:00
ede0805fac
Global find+replace to remove Ordered
2013-08-05 22:31:44 +00:00
cb7eb1b510
Find+replace Ordered headers
2013-08-05 22:31:33 +00:00
09643929fd
Making some tests compile
2013-08-05 22:31:26 +00:00
424ef0728f
Changed a filename to avoid having multiple object files of the same name in the library
2013-08-01 16:54:44 +00:00
3ade190128
Renamed old classes to "Ordered" and removed "Unordered" name from new classes
2013-07-29 23:55:40 +00:00
123657e3d0
Merged from branch 'trunk'
2013-06-24 15:28:16 +00:00
5ae4f21517
Added missing dll export tags to new functions
2013-06-20 16:05:23 +00:00
d5e721a1d0
Continued work on unordered classes and elimination algorithm
2013-06-06 15:36:11 +00:00
1e5f9c742d
Revert "Modified Concurrent Filter to calculate marginals using a "shortcut" that allows constant-time updates during synchronization. Still need to test implementation."
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This reverts commit f24a4f4668006cfe9a3eeb1658b7df03c74490d5.
2013-05-22 00:05:03 +00:00
5f371a4e55
Modified Concurrent Filter to calculate marginals using a "shortcut"
...
that allows constant-time updates during synchronization. Still need to
test implementation.
2013-05-21 21:07:43 +00:00
13d3f1cb6e
Updated Fixed-Lag smoother example
2013-05-21 14:57:40 +00:00
1c5061cf3c
Added optional flag to ConcurrentBatchFilter to control relinearization
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during syncs.
2013-05-17 08:06:06 +00:00
7d03d3c502
Moved pre-sync code to the update() call for the cuncurrent smoother
2013-05-09 18:59:22 +00:00
acd6e629e8
Moved older functions back to gtsam_unstable, cleanup. All tests pass. Rearranged summarization wrap interfaces.
2013-05-08 10:13:57 +00:00
81f63bcc0e
Rearranging summarization, now with unit test in gtsam
2013-05-08 10:11:45 +00:00
36e66b2f0b
Fixed synchronization code in ConcurrentBatchFilter such that an empty graph does not trigger a segfault
2013-05-01 20:54:53 +00:00
224be276e4
Added a new summarization convenience function and cleaned up documentation
2013-04-26 18:27:22 +00:00
009012005e
Removed VariableIndex from the class members as it was often left in an inconsistent state
2013-04-25 18:12:05 +00:00
1e1dfdd808
Updated BatchFixedLagSmoother to use the latest version of optimization and marginalization code
2013-04-25 18:10:21 +00:00
5f3238634d
Added missing GTSAM_UNSTABLE_EXPORT tag
2013-04-25 15:57:06 +00:00
124a38f72d
Made unit test local vars/functions in anonymous namespace
2013-04-22 17:44:09 +00:00
c1f14d60be
Purged unused code
2013-04-19 12:16:18 +00:00
201ca3da9e
Removed debug print statement
2013-04-19 12:16:04 +00:00
3eade960b8
Fixed bugs in marginal generation. It is possible that the marginalization will be "perfect", resulting in no marginal factor. However, a factor was being created anyway.
2013-04-19 12:13:43 +00:00
c2fb82b935
Added matlab wrapping for Fixed-Lag Smoothers and Concurrent Filters and Smoothers
2013-04-15 19:54:46 +00:00
f216e97a15
Modified the getter method in the FixedLagSmoother base class to follow general GTSAM conventions
2013-04-15 17:53:33 +00:00
f3007f5013
Moved the pre-sync code back into the presync() function call. This allows the Filter and Smoother to synchronize properly even when no call to smoother.update() has been made.
2013-04-12 13:05:20 +00:00
03db2b7e55
Modified comments
2013-04-12 12:53:05 +00:00
460a428c97
Provided default parameters for concurrent batch filter and smoother constructors
2013-04-12 12:52:29 +00:00
321de2f701
Removed debugging check from IncrementalFixedLagSmoother and added work around for tree reordering
2013-04-11 20:55:55 +00:00
95e97c2dfc
Changed the default 'enforceConsistency' flag to true in the Batch Fixed-Lag Smoother to match the incremental version
2013-04-11 20:07:58 +00:00
d44a9e3b75
Removed unused code from Concurrent Batch Filter unit test
2013-04-11 19:16:52 +00:00
f963aeb401
Completed rewrite of synchronization functions for the Concurrent Batch Filter
2013-04-11 19:16:15 +00:00
04d595dec1
Started re-implementing the synchronization functions for the Concurrent Filter
2013-04-11 12:43:42 +00:00
634a4c5ef9
Updated Concurrent Smoother for changes in the base class synchronization
2013-04-11 12:42:45 +00:00
0a459549f8
Updated synchronization interface to require the smoother and filter to track their own separator keys and values
2013-04-11 12:42:09 +00:00
1952337e23
Removed unused code from Concurrent Batch Smoother
2013-04-10 21:08:52 +00:00
dce575cb73
Refactored synchronization code for Concurrent Batch Smoother
2013-04-10 15:22:28 +00:00
e4b452473e
Removed variable index from equal test in ConcurrentBatchFilter
2013-04-10 15:21:50 +00:00
5cd020080b
Added marginalization code and unit tests to ConcurrentBatchFilter
2013-04-10 12:47:55 +00:00
ed560aa13a
Updated unit tests for changes in the Concurrent Filtering and Smoothing classes. Currently the synchronization tests are disabled.
2013-04-09 21:48:48 +00:00
0b5c07e543
Starting to clean up and refactor the Concurrent Filtering and Smoothing classes. Currently the synchronization is disables, as is the marginalization in the filter.
2013-04-09 21:24:05 +00:00
b68fee7b00
Fixed bug in hessian_equal in testConcurrentBatchFilter
2013-04-09 19:53:59 +00:00
ed90b00edf
Updated ConcurrentBatchSmoother to use LinearContainerFactors
2013-04-09 15:48:53 +00:00
4f064be4fa
Updated synchronization code for CConcurrent Filter
2013-04-09 15:39:24 +00:00
4c6a460fa0
Fixed bugs in tic-toc statements for Concurrent Filter and Smoother
2013-04-08 17:42:26 +00:00
7c362b2cbd
Loosened unit test thresholds slightly to account for roundoff error on some systems
2013-04-05 19:12:46 +00:00
67e36febf2
Added DLL export annotations on new code
2013-04-01 19:29:53 +00:00
f773a34834
Renamed experimentalMarginalizeLeaves to marginalizeLeaves and added comment
2013-03-26 20:46:08 +00:00
da334ed8a2
Added linear tools (including summarization) from MastSLAM
2013-03-23 20:19:36 +00:00
396732ff6a
Only call iSAM2 marginalize function if there are actually keys to marginalizae out
2013-03-18 22:28:14 +00:00
9e1a07fcec
Added debugging function to IncrementalFixedLagSmoother
2013-03-18 21:39:07 +00:00
f03be70770
Updated iSAM2 Marginalize call for the latest version of GTSAM
2013-03-18 21:32:43 +00:00
a54d177202
Added dll export tags and updated cmake scripts so that GTSAM can build as a shared library on windows
2013-03-13 18:56:21 +00:00
6111c099ab
Improved build of shared vs static GTSAM libraries - now possible to build either one or both, executables link to the shared if it is being build, or otherwise to the static. Also removed separate shared/static CMake flags for gtsam_unstable, now uses the same GTSAM_BUILD_SHARED and GTSAM_BUILD_STATIC as gtsam.
2013-03-13 18:17:39 +00:00
eacbaeb84d
Updated incremental version of the fixed lag smoother to use the in-development iSAM2 marginalize functionality
2013-03-05 20:54:00 +00:00
60d3ba2d0e
Added and incremental fixed-lag smoother using new iSAM2 marginalization functionality, and created a common base class for all fixed-lag smoother implementations.
2013-02-27 20:23:47 +00:00
2b27c14dac
Fixed compile errors on windows
2013-02-24 19:09:52 +00:00
6fef6cf7d5
Added Fixed Lag Smoother and Concurrent Filtering and Smoothing to gtsam_unstable
2013-02-19 21:37:17 +00:00
237da8b3a7
Moved LinearContainerFactor to gtsam/nonlinear and removed the now-redundant LinearizedFactor from gtsam_unstable
2012-11-21 19:41:24 +00:00
cba120c96d
LinearContainerFactor now includes ability to "relinearize" when supplied with an original linearization point
2012-11-21 19:02:13 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
1985758d35
Updated interfaces and wrapped LinearContainerFactor
2012-09-21 14:19:57 +00:00
d3b5c463ed
Fixed initialization bug
2012-09-03 17:22:09 +00:00
d8e0a95890
Small bug-fixes for managing linearization points
2012-09-03 03:06:08 +00:00
6b14e652ff
Fixed bug in equality check
2012-08-27 01:40:11 +00:00
12290dc7b2
Added linearization points to LinearContainerFactor. Fixed bug with localCoordinates() in Values
2012-08-27 01:11:37 +00:00
f9c3af7e3d
Fixed bug in key assignment
2012-08-26 04:16:47 +00:00
9962a66e7c
Added utility functions for converting graphs with LinearContainerFactors, added direct order() to avoid the need to fake linearize.
2012-08-21 18:48:04 +00:00
bac1faa68e
Added ordering-less negate()
2012-08-20 18:28:19 +00:00
e2e780de4d
Removed SLAM namespaces from testLinearizedFactor
2012-07-23 22:51:18 +00:00
e6a294d188
Added LinearContainerFactor to add linear factors to nonlinear graphs
2012-07-10 18:15:51 +00:00
1abf81052f
Removed unused test file - linear containers to appear in MastSLAM
2012-07-06 14:48:25 +00:00
0fe2d527f9
Fixed warnings due to discrete. GTSAM now Wall-safe?
2012-06-22 21:45:36 +00:00
94560fcc45
Fixed factor equals
2012-06-10 19:55:01 +00:00
b602e75a99
Removed the use of the ADD_CLONE_NONLINEAR_FACTOR macro, documented instances of clone() in factors
2012-06-09 21:06:06 +00:00
111ef8a0f0
Moved LinearizedFactor from MastSLAM, started on a test for LinearContainerFactor
2012-06-07 18:16:37 +00:00
dellaert
Sungtae An
Paul Furgale
cbeall3
Richard Roberts
Frank Dellaert
Jing Dong
Chris Beall
Luca Carlone
Alex Cunningham
Stephen Williams