09bb25498f
Merge branch 'develop' into dellaert/issue420
2020-07-31 16:45:03 -04:00
947479e9de
Add variadic-template N-ary ExpressionFactor
2020-07-28 16:20:38 +02:00
85c576cc47
Merge pull request #432 from borglab/fix/recover-slam-serialization-test
...
Recover SLAM serialization test
2020-07-26 23:37:17 +02:00
0198c648e3
Fix all new gcc warnings/errors: make explicit virtual/override methods.
...
Rules are:
- use "virtual" in base classes only.
- use "override" in all derived classes.
2020-07-26 11:20:42 +02:00
a4b95d273f
recover SLAM serialization test
2020-07-25 18:07:25 +02:00
05f50eae40
Fix minor bugs
2020-07-24 03:10:03 -05:00
30703ccb6a
Removed all deprecated code w Stephanie...
2020-07-22 17:32:25 -04:00
eb1a2b8fb3
modified test
2020-07-12 14:31:29 -04:00
0e6dc6a016
Merge branch 'develop' of github.com:borglab/gtsam into feature/1dsfm
2020-06-29 20:05:56 -07:00
fee226a1de
fix SfmData naming
2020-06-24 22:43:55 -07:00
3d42e4e76a
Formatting only
...
# Conflicts:
# gtsam/nonlinear/NonlinearOptimizer.cpp
# tests/testPCGSolver.cpp
2020-05-21 14:50:02 -04:00
98b8d6b4f3
Move to its own compilation unit
2020-05-12 19:37:33 -04:00
7910f00c2c
Optimization works!
2020-05-12 19:37:33 -04:00
83a0f51587
Moved TranslationFactor prototype into sfm directory
2020-05-12 19:37:33 -04:00
652302f5ad
Running optimization
2020-05-12 19:37:33 -04:00
d8f3ca46a4
Added initalizeRandomly
2020-05-12 19:37:33 -04:00
146f411a99
Built TranslationFactor class and partially completed TranslationRecovery class
2020-05-12 19:37:33 -04:00
5abe293cdf
Setup and simulateMeasurements
2020-05-12 19:37:33 -04:00
03910d725e
Merge branch develop
2020-04-12 13:47:24 -04:00
211119b00e
Replace addPrior<> with addPrior
2020-04-12 13:10:09 -04:00
aa3ac32235
Change all old cases of graph.emplace_shared<PriorFactor<...>>(...) and graph.add(PriorFactor<...>(...)) to graph.addPrior<...>(...). Removed unnecessary PriorFactor.h includes.
2020-04-11 20:09:54 -04:00
f4525b51e4
Change PriorFactor includes from gtsam/slam to gtsam/nonlinear
2020-04-10 22:26:22 -04:00
9887d4467c
Replace push_back with emplace_shared. Address PR feedback.
2020-04-10 21:32:19 -04:00
b266287cca
Add addPrior method to NonlinearFactorGraph and corresponding unit test.
2020-04-10 13:01:26 -04:00
b622262acf
printError(): allow custom factor filter
2020-04-10 00:35:53 +02:00
76b29b78af
Prefer C++11 nullptr
2020-04-06 23:31:05 +02:00
669ffd0a05
Merge pull request #235 from borglab/feature/robust_unit_tests
...
Add More Unit Tests for Robust Noise Models
2020-04-04 14:03:28 -04:00
ca4daa0894
Merge pull request #258 from borglab/deprecate-simplecamera
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Replace SimpleCamera with PinholeCameraCal3_S2
2020-03-23 08:08:18 -04:00
75d5409d78
follow Google style guide naming convention for Sfm related data structs
2020-03-06 18:02:51 -05:00
719975022c
consistent naming scheme for SfM_Data
2020-03-06 17:56:32 -05:00
4babfe2491
Remove redundant params
2020-03-03 17:39:28 -05:00
3c0671ba8d
Removed commentted out and print-s
2020-03-01 19:38:57 -05:00
e312abdbf0
Add More Unit Tests for Robust Noise Models
2020-03-01 15:22:19 -05:00
d9923fc3cc
replaced/appended all calls to SimpleCamera with PinholeCameraCal3_S2
2020-02-21 19:42:55 -05:00
a99610b77a
make code match comments when creating Pose3 noiseModel instances
2020-01-04 16:57:22 -08:00
e40a500859
Update test cases for new preferred syntax
2019-10-28 17:43:56 -04:00
8e62a1405e
deprecated functions for backwards compatibility
...
also removed some edits that were tangential to the PR.
2019-10-28 17:41:16 -04:00
4877bdb4f3
Caught some stragglers using boost::optional<Ordering>
2019-10-20 03:20:14 -04:00
1733f3ac98
convert all optional Ordering to function overloads
...
compiles and passes tests, but some potentially code-breaking changes in:
Marginals.h - order of arguments had to change since `factorization` has a default value
EliminatableFactorGraph.h - marginalMultifrontalBayesNet and marginalMultifrontalBayesTree no longer accept `boost::none` as a placeholder to specify later arguments
Notes:
EliminateableFactorGraph.h - `orderingType` is no longer needed in function overloads that specify ordering, but I left it for the time being to avoid potential code breaking
2019-10-20 01:15:20 -04:00
a4ac57c5b8
Merge pull request #117 from borglab/feature/wrap-mestimator-weight
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Wrap mEstimators
2019-10-10 16:55:26 -04:00
e20494324f
Gaussian Factor Graph unittests and linearization
...
(with Python bindings)
2019-10-09 15:58:57 -04:00
3eb8e3d9bc
fixed function declarations which use globally declared noise models
2019-09-25 23:02:21 -04:00
65b309e5cd
renamed global variables in smallExample.h and added optional noise model parameters
2019-09-25 20:04:32 -04:00
07b670423d
Fixed exception type for TBB path
2019-06-11 13:40:29 -04:00
3ab9a1e3cc
Made detail handling more explicit in update
2019-06-03 14:12:10 -04:00
8b01b81027
Split up relinearize again for clarity
2019-06-02 00:41:17 -04:00
42b5f81633
Now using add_factors
2019-06-01 18:03:29 -04:00
4b405728a7
Get rid of deprecated LieScalar
2019-06-01 17:34:24 -04:00
ecacda68c0
Further refactored pushNewFactors
2019-06-01 17:34:24 -04:00
1a29ab5533
Refactored iSAM2::update to reveal what is changed when
2019-06-01 17:34:24 -04:00
184324a2dc
Check exception type
2019-05-30 16:43:34 -04:00
0e309baab6
Make test with hard constraints
2019-05-30 16:42:50 -04:00
8801de4d63
Pose3 naming convention
2019-05-16 15:06:15 -04:00
70d3c9044d
Fixed ILS error in example
2019-05-15 22:33:22 -04:00
ed721a152a
Example coded, throws ILS
2019-05-15 20:55:16 -04:00
912c091dc9
Resurrected remaining tests and deleted two
2019-05-15 20:33:23 -04:00
110240aa4f
Resurrected lots of elimination tests
2019-05-15 20:10:46 -04:00
464804d8f5
Recovered eliminateOne
2019-05-15 17:40:57 -04:00
b2e5dadcdb
Merge branch 'develop' of https://bitbucket.org/gtborg/gtsam into fix/trailing_whitespaces
...
# Conflicts:
# gtsam/symbolic/tests/testVariableIndex.cpp
# gtsam_unstable/gtsam_unstable.h
# gtsam_unstable/linear/RawQP.cpp
# gtsam_unstable/linear/RawQP.h
2019-05-12 09:26:28 -04:00
b6abcb04f2
Split off builder, now also used with same parameters in SubGraphSolver
2019-04-14 14:14:48 -04:00
7b6eaa4333
removed unused typedefs
2019-04-13 22:05:49 -04:00
913262b27d
Fixed issue with test with tbb iterators
2019-04-08 16:46:56 -04:00
a7227cab43
Cleaned up formatting
2019-04-07 22:33:58 -04:00
c1c2fd7008
Fixed the tests - key was choosing right ordering
2019-04-07 22:31:27 -04:00
2de0957b2d
Renamed some variables, used subVector as a test
2019-04-07 18:14:53 -04:00
93a7c99f03
Created more unit tests attesting problems with solve.
2019-04-07 13:15:05 -04:00
490a558fe1
Fixed dimension mismatch (on account of three extra dummy factors)
2019-04-07 13:15:05 -04:00
3889b29305
Resurrected tests
2019-04-07 13:15:05 -04:00
3737474d1e
Deprecated all but three constructors.
2019-04-04 09:23:02 -04:00
aaf2ff5689
Resurrected tests
2019-04-04 01:17:47 -04:00
1cdc228d6a
remove trailing spaces
2019-02-11 10:58:34 -05:00
fbcfbf0cdd
Made naming convention in wrapper uniform.
...
2D means Pose2 + Point2
3D means Pose3 + Point3
2018-12-31 11:19:46 -05:00
70f428fed1
Merge branch 'fix/iSAM2' into fix/GenericValue-assignment
...
Added extra update so converges faster, and matches test in Issue #412
Conflicts:
tests/testVisualISAM2.cpp
2018-12-18 14:40:33 -05:00
77f3a9195c
Added an iSAM2 convergence test.
2018-12-18 14:22:44 -05:00
ab0fb0d4a5
Added iSAM2 test to check issue #412
2018-12-18 13:56:38 -05:00
8c221efda2
Fix build for GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF
2018-11-27 10:54:14 -08:00
79fe89eaa9
Switched to using c++11 braces-style initialization
2018-11-08 17:26:09 -05:00
d86782eebc
Some remaining std::vector stragglers
2018-11-08 12:25:21 -05:00
2aa43e11bd
Use KeyVector everywhere to avoid conversions
2018-11-08 10:10:32 -05:00
566315f47d
Solved overloading
2018-10-02 23:25:27 -04:00
d6edc217ab
Changed several Impl functions to methods in ISAM2 and ISAM2Clique
2018-09-30 14:11:00 -04:00
a31294d777
Modernized, cleaned up, and turned off non-recursive version (fow now) because it has a bug.
2018-09-29 17:52:20 -04:00
1ec15a7345
Incorporate Frank's suggestions for PR #315
2018-09-28 00:47:17 -07:00
bd4ab1598e
Expanded shortcut_overlapping_separator test in testGaussianBayesTreeB to allow for sign reversal in a row of the augmented Jacobian. The joint density does not appear to be affected in the case where the augmented Jacobian row sign is changed, so we should not fail the test if that happens.
2018-09-27 18:19:44 -07:00
16057a2c8e
Unit test, succeeds...
2017-08-08 00:59:33 -07:00
bd67779f74
Merged in feature/variadic-emplace_back (pull request #274 )
...
Feature/variadic emplace_back
Approved-by: Jing Dong
2017-03-12 05:19:15 +00:00
d7d35876f1
jacobians for logmap and expmap
2016-10-03 19:11:44 -04:00
249d6b0b1b
Replaced graph.push_back with graph.emplace_shared if needed.
2016-10-01 11:17:41 -04:00
fbe9aac41c
squash local changes on top of gtsam upstream pull from 6/14/2016
2016-06-18 23:13:59 -07:00
a97502f5a1
Resolved all issues with typedefs
2016-06-06 21:57:52 -07:00
41b091e86f
Chasing down more vector() and Point2 default constructor uses
2016-06-06 00:37:49 -07:00
bdbbe0203d
Derive Point2 from Vector2 and deprecate a number of methods
2016-06-05 23:52:04 -07:00
72fe66d468
Removed headers
2016-05-22 14:22:36 -07:00
a464769ce1
Replaced BOOSE_FOREACH with for in tests folder. Tested the changed code locally: successful.
2016-05-20 21:29:02 -04:00
b021ccef36
Global replace of Vector::Ones(1) and Matrix::Ones(1,1) with I_1x1
2016-04-16 12:32:48 -04:00
b6728ef620
Deprecated Vector ones(size_t n). All unit tests pass.
2016-04-15 17:30:54 -04:00
76308a5d46
Deprecated Vector zero(size_t n). All unit tests pass.
2016-04-15 16:54:46 -04:00
aa599d409c
Oops...fixed mistypes. Unit tests pass now.
2016-04-11 16:04:24 -04:00
379ad8b3d2
Fixed incorrect replacement of Vector.h's ones(n) with Matrix::Ones(m,n).
2016-04-11 15:25:08 -04:00
70b2aab352
Deprecated all inline functions in Matrix.h.
2016-04-11 15:11:29 -04:00
026a0f59fe
Deprecated repeat() in Vector.h.
2016-03-11 23:10:18 -05:00
fad9462661
A better solution through typedef of FactorIndices -> FastVector<size_t>
2016-02-25 23:51:01 -08:00
8e6baf9e7e
Fixed Point3 constructor
2016-02-24 14:44:05 -08:00
0372a959ee
Many small improvements, bug-fixes, and tests
2016-02-24 11:01:19 -08:00
5afdc24ca7
Merged in feature/typedefPoint3 (pull request #225 )
...
Point3 -> Vector3
2016-02-18 11:13:33 -08:00
a283938b47
A minimal traits example
2016-02-16 10:23:02 -08:00
1c920967d9
No more use of vector() or default constructor
2016-02-12 00:06:07 -08:00
c781ca46db
Merge remote-tracking branch 'origin/feature/evenFasterExpressions' into feature/typedefPoint3
2016-02-11 22:39:39 -08:00
5c3dd7914b
Removed checks on sizeof(Record) as non-portable.
2016-02-11 22:36:03 -08:00
94ccf98985
Avoid default constructor in tests
2016-02-11 19:01:54 -08:00
a19aa793d7
Cleaned up a number of Point3/Rot3 related uses
2016-02-08 17:31:32 -08:00
063e0a47ee
Moved functors to Matrix.h, without Expression sugar
2016-02-01 09:13:25 -08:00
cb93c2bfc1
Multiplying with the inverse of a matrix function
2016-01-31 20:11:17 -08:00
e6521703e6
Derivative of multiplying with inverse of matrix
2016-01-31 16:26:36 -08:00
d1271fd9d5
Fixed product retract/localCoordinates and corresponding tests
2015-07-16 23:48:56 -07:00
30435da070
Moved BearingRangeFactor to SAM
2015-07-12 18:57:26 -07:00
3bad6fea67
moved RangeFactor to SAM
2015-07-12 12:12:59 -07:00
5052eb2c64
cleaning up
2015-07-11 18:31:36 -07:00
7ff3e11efd
removed redundancy in naming
2015-07-09 11:29:32 -07:00
3b16ad2967
Moved deprecated headers into subdirectory
2015-07-09 11:14:39 -07:00
aa1fae41a9
Added testcase mixing binary and ternary cases
2015-07-09 00:53:40 -07:00
a923086a00
Removed print statements
2015-07-09 00:42:48 -07:00
20b669bed6
Refined testcase even more for debugging
2015-07-09 00:40:21 -07:00
2bc0d580e7
Slightly changed example, debugging output
2015-07-08 23:29:21 -07:00
f7c5f0cb79
Moved test to tests/ExpressionFactor
2015-07-08 22:50:24 -07:00
f9b5bc2936
Loosened test thresholds for Rot3/Pose3 expmap path
2015-07-05 14:02:18 -07:00
464a82cc51
Merge remote-tracking branch 'origin/develop' into feature/betterOrdering
...
Conflicts:
.cproject
gtsam/inference/Ordering.h
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
2015-06-28 15:41:58 -07:00
d415cffd4b
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
2015-06-23 22:41:33 -07:00
b0f04503c9
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
...
# Conflicts:
# gtsam/linear/tests/testRegularHessianFactor.cpp
# gtsam/slam/SmartFactorBase.h
2015-06-23 10:03:42 -04:00
48c3f5813b
removed printing
2015-06-22 00:35:21 -07:00
b546a1f0a7
Use front/back
2015-06-21 14:39:56 -07:00
5237c74928
Strengthened test and now checks problemSize_
2015-06-21 14:36:23 -07:00
c3811a5488
Fixed machine-dependent outcome
2015-06-21 11:40:47 -07:00
6727ae9ae5
salvaged old test
2015-06-20 23:50:03 -07:00
08f6f58af7
Merge remote-tracking branch 'origin/feature/reducedBloat' into feature/CeresDefaults
2015-06-20 19:15:14 -07:00
128bac616c
Globally replaced FastSet<Key> with KeySet.
2015-06-20 18:38:25 -07:00
9359ad70e2
Merge remote-tracking branch 'origin/feature/reducedBloat' into feature/CeresDefaults
2015-06-20 16:22:06 -07:00
5719ba27fa
Reducing header bloat by introducing new ThreadSafeException header.
2015-06-20 15:28:25 -07:00
f8205bfe02
Merge branch 'develop' into feature/SmartFactors3
...
Conflicts:
gtsam/geometry/CalibratedCamera.h
gtsam/geometry/tests/testCalibratedCamera.cpp
gtsam/geometry/triangulation.h
gtsam/nonlinear/ExpressionFactor.h
gtsam/slam/SmartProjectionFactor.h
gtsam_unstable/slam/SmartStereoProjectionFactor.h
tests/testExpressionFactor.cpp
2015-06-19 16:55:30 -04:00
879e66a63a
TWo default param sets
2015-06-18 09:51:22 -07:00
1ae0f256a1
Moved test to right place (geometry tests should not be relying on optimization code, and this was a test of the factor, not pinholecamera)
2015-06-07 20:25:35 -07:00
6a67ea86af
Made testLie a bit stronger
2015-05-26 01:53:58 -07:00
8939adc799
Moved ProductLieGroup to its own header
2015-05-25 23:49:41 -07:00
512e373530
ProductLieGroup prototype
2015-05-25 22:42:05 -07:00
111d0d39dd
Got rid of CRTP
2015-05-25 20:51:50 -07:00
8582357976
test Product
2015-05-25 18:30:53 -07:00
88d8543f12
Moved to tests
2015-03-06 08:48:01 -08:00
ebf5746987
Fix some serialization warnings.
2015-03-06 16:12:09 +01:00
8a88f101db
Fix deprecation warnings
2015-02-24 21:58:17 -05:00
64bb6b77d7
Merged in feature/SmartCT (pull request #107 )
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Refactoring of Smart Factors
2015-02-22 06:14:19 +01:00
1d81572894
Capitalize static methods in ordering.h
...
This commit involves the API change. Related files in gtsam have been changed. All the tests examples run without issue.
2015-02-21 13:16:03 -05:00
19e7b6bf39
Deal with incomplete Pose2 type by including <Pose2.h>
2015-02-21 12:39:50 +01:00
e1ace9b62a
Add a unit test for GaussianFactorGraphSystem::multiply and getb
2015-01-31 03:33:19 -05:00
7cdbac4b5c
Fix warnings by latest CMake 3.1. Variables should be unquoted: Policy CMP0054 is not set: Only interpret if() arguments as variables or keywords when unquoted.
2015-01-16 09:33:02 -05:00
e13243b140
Merge branch 'develop' into feature/RegularFactors
...
Conflicts:
gtsam/linear/GaussianFactorGraph.cpp
gtsam/linear/JacobianFactor.cpp
gtsam/linear/JacobianFactor.h
tests/testPreconditioner.cpp
2015-01-01 17:50:27 -05:00
e5017984a1
traits_x -> traits
2014-12-26 16:47:51 +01:00
74c588aee9
Re-factored scalar traits and fixed Matrix traits (bug in RowMajor, compile issues for dynamic types)
2014-12-26 16:11:53 +01:00
7213f0b2eb
Moved Canonical to AdaptAutoDiff.h for now
2014-12-25 17:42:44 +01:00
52ec4f0784
fixed serialization tests
2014-12-23 12:35:49 +01:00
5473550eea
Using traits in many places (forced by loss of Point2 mojo)
2014-12-22 16:02:33 +01:00
06c3696176
Fixed more problems so everything compiles now after splitting up concepts into Group/Manifold/Lie/VectorSpace. Still 25 tests that fail.
2014-12-22 02:52:31 +01:00
79d8514528
MASSIVE edit: made Testable its own concept, and moderinized Testable.h to use Testable traits. This required adding Testable traits in many classes.
2014-12-21 22:02:57 +01:00
0c74ed8686
Measurement should be Point2
2014-12-21 22:02:57 +01:00
c607f48a3c
fixed some Point2 constructions
2014-12-21 18:50:01 +01:00
00b374c9e9
Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits
...
Conflicts:
gtsam/base/LieScalar.h
gtsam/geometry/Point2.h
2014-12-21 14:39:23 +01:00
99d2203617
bit more progress
2014-12-18 22:43:16 +01:00
263d4e163c
more progress, need to fix testSO3.cpp and testManifold.cpp
2014-12-17 22:53:56 +01:00
f6dd14126d
Revert commits related with fixing PCG (reverted from commit 1f827fae43)
2014-12-07 18:26:09 -05:00
06b82ce3e3
Clean up the code
2014-12-04 23:30:27 -05:00
558bee685e
Remove tests associated with older version (Yong-Dian) of BlockJacobiPreconditioner::build
2014-12-04 22:57:44 -05:00
7760a802ab
Remove tests using deprecated testable functions (getBuffer, getBufferSize)
2014-12-04 22:33:53 -05:00
c2b5b152a4
Change the noise model as non-isotropic in the test of PCG solver with a simple linear system
2014-12-04 22:14:46 -05:00
f3bbe604d6
temporary printing out for test
...
Fix Eigen comma initialization
2014-12-01 05:07:43 -05:00
b601eb0f92
Add temporary tests
2014-12-01 05:04:17 -05:00
332b3f9da9
Add tests for preconditioner and solver
2014-12-01 05:02:02 -05:00
72644b8ff3
Fixed headers
2014-11-26 17:31:40 +01:00
c2e38633b5
Merge remote-tracking branch 'origin/develop' into feature/BAD_custom_chart
...
Conflicts:
gtsam_unstable/nonlinear/ExpressionFactor.h
2014-11-26 11:20:56 +01:00
084de3350e
Formatting
2014-11-25 08:47:25 +01:00
e34a237162
Merged in feature/ordering (pull request #34 )
...
METIS Ordering
2014-11-24 18:04:35 -05:00
02131057ee
Add temporary tests
2014-11-24 09:21:16 -05:00
f9ca07e610
Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax
2014-11-23 10:22:25 -08:00
aa093a35da
Updated all comma initializer usages to use .finished()
2014-11-22 16:35:27 -08:00
e72b346592
Add tests for preconditioner and solver
2014-11-20 19:03:20 -05:00
36a485169d
Refactor Ordering parameters. Now compiles and passes with gcc
2014-11-17 16:16:52 -05:00
ee3c7ce182
Add a different test for building blocks
2014-11-14 14:09:42 -05:00
e2aef1b325
Merge remote-tracking branch 'origin/develop' into feature/BAD
2014-11-14 01:31:49 +01:00
fed2c8b684
added missing square matrix specialization - without it, square to square cases would be ambiguous.
2014-11-10 16:35:23 +01:00
6d04309dfb
* cleaned up and optimized a bit the Eigen matrices' DefaultChart
...
* also added a few unit tests more for those chars
2014-11-09 17:48:52 +01:00
9f765c7496
micro cleanup
2014-11-09 10:27:23 +01:00
6cfc4c45d2
* implemented traits::identity for Eigen matrices
...
* simplified the traits::dimension for Eigen matrices
* added some tests for traits::identity and traits::zero
* got rid of a compiler warning (signed vs. unsigned) in Matrix.cpp
2014-11-08 13:51:24 +01:00
7bbd0513f4
Add the first unit test for Block-Jacobi Preconditioner
2014-11-06 23:14:52 -05:00
a89781a9e6
Add some comments
2014-11-06 14:26:46 -05:00
c332a44c5e
No more LieVector
2014-11-04 15:44:20 +01:00
d06de2f044
Reverted to LieScalar until Prior and Between factors fixed
2014-11-04 14:26:50 +01:00
b5327673fb
Get rid of LieVector
2014-11-03 11:02:15 +01:00
492c607f9e
No more Lie types
2014-11-03 09:27:40 +01:00
82f6ed5ca8
inserted spaces after commas
2014-10-28 14:15:34 +01:00
bc094951ed
all values in Values container are now a ChartValue<ValueType, Chart=DefaultChart<ValueType> >
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ChartValues are GenericValues and a Chart, which defaults to DefaultChart
had to make charts functional (ie no storage of the chart origin) so that they could be zero sized base class
otherwise there would have been a double of the memory for values (ones for the value, and once for the chart origin, which default to the same)
most tests work, execept for serialization based stuff, and const filtering of values.
2014-10-28 00:57:44 +01:00
5a792c8847
No Cayley in quaternion mode
2014-10-22 21:55:35 +02:00
06af482d61
Added test for Rot3 - all is good
2014-10-21 23:07:38 +02:00
224b71d696
Created testManifold
2014-10-21 12:54:28 +02:00
e46a8b05eb
Some mode readable matrix types
2014-10-11 23:06:57 +02:00
7a658e0347
relaxed tolerance a tiny bit to make test pass with Boost 1.56
2014-08-14 00:25:49 -04:00
946cc5338a
Merge branch 'develop' into feature/timing_scripts_build
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Conflicts:
gtsam_unstable/CMakeLists.txt
2014-06-21 08:55:49 -07:00
17426d0076
subgraph preconditioner revised
2014-06-15 23:14:06 -04:00
67398f0f13
add BlockJacobiPreconditioner class and unit test
2014-06-08 16:15:00 -04:00
e8d3809917
add new generic pcgsolver and preconditioner classes
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add a unit test for the PCGSolver class
2014-06-08 00:34:23 -04:00
fe235b1209
Building timing scripts using new timing script support in GtsamTesting.cmake. Fixed compile errors in timing scripts but disabled a couple.
2014-06-07 19:02:11 -07:00
515b612ca0
Merge branch 'develop'
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Conflicts:
.cproject
2014-05-28 18:59:04 -04:00
2af4b4ec4c
commented test on spanning forest
2014-05-28 18:56:44 -04:00
386ed2e510
Merge branch 'develop'
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Conflicts:
gtsam_unstable/slam/SmartFactorBase.h
2014-05-28 18:11:39 -04:00
f6ad0a1920
fixes with Frank
2014-05-16 19:22:35 -04:00
b8300c3b0a
Improved function findMinimumSpanningTree to cope with general graphs (and added comments)
2014-05-14 17:39:59 -04:00
0d957084c0
fixed unit test on findMinimumSpanningTree
2014-05-14 17:21:32 -04:00
d725dd4816
Renamed unit tests that still had 'Unordered' in the name
2014-05-07 18:19:11 -07:00
92c9e9c0aa
Fixed "unused" warnings
2014-05-03 12:23:49 -04:00
1ed07ca4ed
Moved to unstable
2014-05-03 12:23:20 -04:00
4769e3c3fa
Fix for unit test based on previous LM change
2014-04-24 12:05:37 -04:00
a6d73e8884
improved efficiency of diagonal damping (avoiding multiple traversal of binary tree)
2014-03-13 22:43:51 -04:00
e65ddf4d87
cleaned up LM with Richard, before merge
2014-03-12 14:24:15 -04:00
6f692b1547
Merge branch 'develop'
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Conflicts:
gtsam/base/SymmetricBlockMatrix.cpp
gtsam/linear/JacobianFactor-inl.h
gtsam_unstable/geometry/tests/testTriangulation.cpp
2014-03-12 12:57:59 -04:00
49a1b7abca
partially fixed unit test on LM
2014-02-25 21:09:05 -05:00
1770f44ad9
Fixed a number of clang warnings
2014-02-23 18:53:48 -05:00
fdd891c7c9
Fixed left-over "ordered" test factor in testExtendedKalmanFilter.cpp
2014-02-23 18:52:57 -05:00
7192bd2f79
Removed namespace-functions for ISAM2 optimize* and gradient*, these were only there to try to maintain a consistent interface for linear but really were not correct anyway since ISAM2 is a nonlinear object. They instead caused confusion and made the code complicated since they used a complicated system for updating and caching various components that go into calculating the solution. Replaced all this with much simpler code directly inside updateDelta, which uses clearly-defined functions in the ISAM2::Impl class to calculate the components that go into the solution. Also removed the redundant deltaUpToDate flags - now just checks whether deltaReplacedMask is empty.
2014-02-22 16:46:38 -05:00
a0bc4b0a5a
added 1 more unit test: delta is perpendicular to gradient of original system
2014-02-20 12:35:07 -05:00
dec6430d9b
1 more test: a small step in delta direction does not decrease error
2014-02-20 12:22:12 -05:00
541dbd5199
Plot thickens: delta computed from damped system points downhill but non-linear error does not decrease
2014-02-20 09:02:24 -05:00
33ae83fcb2
Much more extensive testing of diagonal policy with Luca over Skype - gets stuck in a non-minimum !!!
2014-02-20 00:28:15 -05:00
c05eaa0d22
fixed unit test
2014-02-16 17:11:58 -05:00
9279d4402f
identifying convergence issue in diagonal hessian LM
2014-02-16 16:19:20 -05:00
17e2221395
New test showing diagonal damping currently broken.
2014-02-16 11:58:13 -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
8c4aa2b9a6
remove all LieMatrix(sizt_t m, ...), which also has dangerous behavior
2014-01-23 18:46:01 -05:00
96296333ae
remove all LieVector(size_t m, ...), which doesn't check parameter's type and it's also dangerous
2014-01-23 18:35:29 -05:00
b36574f77a
remove all Vector_() definition and declaration
2014-01-23 02:51:05 -05:00
97ebfbb1f0
fix Vector_() remained
2014-01-23 02:16:36 -05:00
8641816b21
fix Vector_() in gtsam_unstable and tests
2014-01-23 02:03:12 -05:00
686051c032
Convert DOS line endings to UNIX
2014-01-09 16:39:27 -05:00
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
6c2077ccc5
Updated unit tests for clique finding fix
2013-11-19 00:26:18 +00:00
fa5d08d9a6
Option to reuse old factor slots in ISAM2
2013-11-18 19:23:09 +00:00
2896a45d1f
Fix Matrix_(...) to Mat() <<...
2013-11-13 06:08:59 +00:00
05467e4774
Fix Matrix_(...) to Mat() <<... in tests
2013-11-13 06:02:35 +00:00
ec78d54f37
Removed old Index typedef and IndexFormatter
2013-11-08 16:35:28 +00:00
855e2aa18c
Logging works, see testNonlinearOptimizer.cpp
2013-10-30 15:40:22 +00:00
3c33e44c46
Fixed compile errors on windows
2013-10-29 04:24:14 +00:00
def9b84e45
Added virtual solve method to NonlinearOptimizer that you can override, e.g., with Ceres
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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
181881a8d7
Fix Vector_() to Vec() in tests
2013-10-22 03:56:51 +00:00
Frank Dellaert
Jose Luis Blanco-Claraco
Jose Luis Blanco-Claraco
Varun Agrawal
Frank dellaert
yetongumich
akrishnan86
Frank Dellaert
alescontrela
Fan Jiang
Fan Jiang
Peter Mullen
Gerry Chen
Duy-Nguyen Ta
Duy-Nguyen Ta
Chris Beall
Mike Sheffler
Yao Chen
Jing Dong
Yao Chen
Abe
Frank Dellaert
Alex Hagiopol
cbeall3
Luca
Thomas Schneider
Paul Drews
zhaoyang
Sungtae An
Mike Bosse
Richard Roberts
HannesSommer
Yong-Dian Jian
Zsolt Kira
Jing Dong