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
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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
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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 )
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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> >
...
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
...
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'
...
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'
...
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'
...
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
...
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
3c68d20ff2
Fixed calculate_nnz and added unit test
2013-10-03 16:50:20 +00:00
2b78eb8bec
Restored NonlinearFactorGraph::symbolic() and made a few other minor fixes.
2013-09-17 03:13:32 +00:00
bbb6ff90fd
Added tests and updated comments regarding using disconnected systems
2013-09-09 16:59:04 +00:00
06548ec8a9
Fixed bug in marginals introduced with unordered and modified a unit test to catch it.
2013-08-26 23:05:17 +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
0f3732d7f5
Moved summarization back to MastSLAM - functionality largely replaced with newer elimination functionality
2013-08-16 16:32:20 +00:00
0b58b0166a
Fixed errors and warnings on linux
2013-08-12 21:32:51 +00:00
6410205e78
Fixed warnings
2013-08-11 18:18:06 +00:00
3c8d482271
Reenabled dogleg unit tests and moved relevant parts to other test files
2013-08-11 18:17:32 +00:00
f1fb9374c9
Merged from branch 'branches/unordered-isam2'
2013-08-11 00:57:54 +00:00
4e2f2c3822
Changed public back to protected
2013-08-11 00:40:12 +00:00
3228895c26
Fixed ISAM(2) unit tests
2013-08-11 00:40:04 +00:00
63e89656d2
Temporary debugging for marginalizeLeaves
2013-08-10 15:52:00 +00:00
789f2bee97
ISAM2 compiling and fixed several issues but still some unit tests failing
2013-08-09 21:35:47 +00:00
9a10242e96
Fixed warnings
2013-08-09 21:35:42 +00:00
073ea4fa0f
Re-enabled summarization test/implementation. Sequential versions re-implemented, but tests don't pass
2013-08-09 19:59:14 +00:00
375f7c16e6
Working on fixing ISAM
2013-08-06 19:56:48 +00:00
89310ceb09
Syntax
2013-08-06 19:56:45 +00:00
2d60d2cdfa
Fixed more unit tests
2013-08-06 18:04:40 +00:00
18b71ef110
Fixed some unit tests
2013-08-06 18:04:37 +00:00
49e93a71b0
No noise model in smallExample
2013-08-06 18:04:36 +00:00
e1991ff49c
Fixed warnings
2013-08-06 17:36:05 +00:00
3fbc0c739f
Fix in testGaussianBayesTree
2013-08-06 16:18:09 +00:00
77f0f0f5f6
Disabled testSerializationSLAM for the time being
2013-08-06 16:10:13 +00:00
5692fb5e98
Fixed HessianFactor combining into dense factor with ordering
2013-08-06 13:44:50 +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
90b1349f23
Made NonlinearConjugateGradientOptimizer compile
2013-08-05 22:31:22 +00:00
55ce9eed1d
Updated smallExample
2013-08-05 22:31:21 +00:00
ac0f108106
Removed redundant test
2013-08-05 22:31:15 +00:00
4db55a3a6a
Removed 2 more ordered files
2013-08-02 22:09:46 +00:00
be0b27a003
Removed obsolete Ordered classes and unit tests that have already been converted
2013-08-02 22:09:40 +00:00
98623f9068
Adapted timeIncremental to work with landmarks
2013-07-30 14:32:11 +00:00
69a9d75dd6
Converting smallExample and GaussianISAM
2013-07-30 02:11:34 +00:00
3ade190128
Renamed old classes to "Ordered" and removed "Unordered" name from new classes
2013-07-29 23:55:40 +00:00
b857dab6a9
Renamed unit tests already converted to 'Obsolete'
2013-07-17 03:13:00 +00:00
d7767188b3
Merged from branch 'trunk'
2013-07-01 13:11:15 +00:00
77a1e9a485
Added ISAM2::marginalCovariance function.
2013-06-29 02:19:03 +00:00
123657e3d0
Merged from branch 'trunk'
2013-06-24 15:28:16 +00:00
14a71aeedc
Put header-implemented unit test functions in anonymous namespaces to avoid duplicate symbols in SINGLE_TEST_EXE mode
2013-06-20 16:05:24 +00:00
8f4688fd5b
Compiling serialization unit tests with /bigobj on windows
2013-06-20 16:05:21 +00:00
400e20420c
Adding headers to list of sources in top-level unit tests so that they show up in visual studio
2013-06-20 16:05:20 +00:00
8f9d5ec2e2
Merge branch 'trunk'
2013-06-17 21:15:57 +00:00
19f7da62dd
Refactored existing serialization functionality, added exposed interface for serialization
2013-06-12 19:30:20 +00:00
2196953188
Removed reference to nonexistant test_lib
2013-06-11 20:26:34 +00:00
0c7182b713
Removed unnecessary using statements
2013-06-11 14:36:50 +00:00
37f936d41c
Cleanup, whitespace
2013-06-11 14:36:50 +00:00
7b79cfc38c
Removed all non-test/timing cpp files from tests folder, small example now is header-only
2013-06-11 14:35:22 +00:00
d5e721a1d0
Continued work on unordered classes and elimination algorithm
2013-06-06 15:36:11 +00:00
9c61d15fb1
Caught corner case in summarization causing ccolamd to segfault
2013-05-23 18:12:00 +00:00
d05560687b
Avoid segfault on linking
2013-05-20 22:23:04 +00:00
07c4c95f18
Added serialization unit tests for binary files
2013-05-08 13:23:46 +00:00
4e0dbbc2b1
Added tests for each summarization mode
2013-05-08 10:14:19 +00:00
c74de0136c
Changed interface to allow for different modes
2013-05-08 10:14:10 +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
547323cc79
Fixed a bunch of compiler warnings
2013-04-05 21:34:04 +00:00
f773a34834
Renamed experimentalMarginalizeLeaves to marginalizeLeaves and added comment
2013-03-26 20:46:08 +00:00
e2aca2039e
Further fix in iSAM2 marginalization
2013-03-20 13:48:16 +00:00
596c5cdae8
Revamped ISAM2::marginalizeLeaves again, more tree algorithm instead of relying on sorted keys, hopefully correct this time.
2013-03-18 19:28:02 +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
72db4793c5
Fixed bugs in iSAM2 leaf marginalization found in HMF testing - set of factors to remove, adding new leaf clique from remaining variables. Also relies on bug fix in BayesTree::removeClique a couple of commits ago.
2013-03-05 05:47:27 +00:00
cd300bfeff
First pass at marginalization of leaves in iSAM2 - passes unit tests but needs to be tested on real data
2013-02-24 19:09:54 +00:00
7aa45115a1
Replaced depreciated boost::shared_dynamic_cast with boost::dynamic_pointer_cast to work with boost 1.53
2013-02-11 20:24:53 +00:00
6eafc9420e
update namespace mEstimator for unittests
2013-02-08 00:47:52 +00:00
013705232c
Maintain reverse-lookup inside of Ordering, to allow fast partial permutations, and modified iSAM2 to use partial permutations on Ordering. Removed InvertedOrdering and updated other GTSAM code and unit tests to use the Ordering reverse-lookup function "key" instead of calculating and inverse ordering.
2013-01-08 23:31:06 +00:00
c42bccbb3e
Increased chain length in timeiSAM2Chain
2012-12-18 14:21:49 +00:00
4e7393cc08
Added timing test for a long chain in iSAM2
2012-12-18 14:21:12 +00:00
7309aa0ffa
Unit tests pass with piecewise VectorValues implementation (for fast permutations)
2012-12-18 14:21:02 +00:00
bd285fbb52
Merge remote-tracking branch 'svn/trunk' into isam2-chain-optimization
...
Conflicts:
gtsam/linear/HessianFactor.cpp
gtsam/linear/VectorValues.cpp
2012-12-18 14:20:31 +00:00
5b9271cb97
VV work
2012-11-23 23:22:53 +00:00
aba48e4492
Commented out serialization in timeIncremental
2012-11-14 00:55:31 +00:00
0c3761a2a9
Reverted r14178, r14179, r14195, r14196 (isam2 chain optimizations) to move them to a branch
2012-11-11 20:51:03 +00:00
43778a6ed3
--update the distance() of robust noise model
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--add a nonlinear optimization unit test using robust noise model
2012-11-06 22:42:01 +00:00
43f08ce806
Increased chain length in timeiSAM2Chain
2012-11-05 01:04:16 +00:00
10f69cfca0
Added timing test for a long chain in iSAM2
2012-11-02 22:07:30 +00:00
46c1d0c512
Added joint marginal timing to timeIncremental script
2012-10-31 22:27:36 +00:00
4d4e17c2a7
Joint marginals using lowest-common-ancestor shortcuts. As part of this commit, caching of shortcuts is removed, the BayesTreeCliqueBase::marginal function computing single-variable shortcut marginals is removed, and the factor/frontal size checks in symbolic and discrete elimination are modified to permit eliminating empty factors or zero frontal variables.
2012-10-28 06:21:21 +00:00
279738c56f
Renamed unit tests to match file name
2012-10-28 06:21:17 +00:00
920bb52453
Moved eliminate and eliminateOne from inference to FactorGraph
2012-10-22 17:49:41 +00:00
656080ad2f
Fixed warning
2012-10-08 23:58:57 +00:00
3218a7bca4
Added missing main function
2012-10-08 23:03:02 +00:00
9793f8b7f7
Finalized batch and incremental timing scripts
2012-10-08 22:40:47 +00:00
f3a2887af1
Moved GaussianBayesTree tests into their own file, out of testGaussianISAM
2012-10-08 22:40:40 +00:00
b60189104c
Added checks for proper noise model dimension
2012-10-05 23:23:40 +00:00
054c326e3c
Added tests related to determining why non-unit sigmas were occurring in bayes tree - solution: Vector_() is dangerous
2012-10-04 20:23:45 +00:00
89b50e7679
Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
2012-10-02 20:18:41 +00:00
c44f8f7f80
Fixed examples from timing statement change (missed)
2012-10-02 18:49:48 +00:00
4876cc7ff7
Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list)
2012-10-02 18:36:39 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
96ce28625b
Timing marginals in timeIncremental
2012-10-01 16:12:43 +00:00
784e9f5755
Added overall timing scripts for batch and incremental (ISAM2) solving
2012-09-28 17:48:49 +00:00
aeb43bc8fc
Used technique described in http://gcc.gnu.org/onlinedocs/gcc/Diagnostic-Pragmas.html to turn off excessive warnings generated by boost lambda headers
2012-09-16 18:07:50 +00:00
89cd600165
avoid warnings
2012-09-16 17:54:43 +00:00
7266293a61
Cleaned up some remaining JacobinaFactorGraph remnants
2012-09-05 03:52:01 +00:00
c4c5dec9a3
Fixed testIterative unit tests
2012-09-05 03:06:22 +00:00
b0508cc1a8
Removed JacobianFactorGraph - moved its linear algebra interface to GaussianFactorGraph and redirected all uses of it to GaussianFactorGraph
2012-09-04 22:42:09 +00:00
c55f4be0d1
Comments added
2012-09-04 22:20:40 +00:00
73f8c0830b
Created new dense matrix functions in GaussianFactorGraph returning pair<Matrix,Vector> for easier access, and renamed functions to augmentedJacobian, augmentedHessian, jacobian, hessian
2012-09-04 15:05:57 +00:00
abd07e553e
Made new global functions in unit tests static to avoid duplicate symbols
2012-09-04 15:05:55 +00:00
af652b0e04
remove simpleSPCG
...
reorg SubgraphSolver
add unit test for SubgraphSolver
2012-09-03 19:43:08 +00:00
9497a233ce
Cleaned up all remaining commented-out unit tests from the old linear rewrite - removed or reenabled as needed.
2012-09-03 18:36:05 +00:00
35d188e36d
Moved testIterative.cpp back to GTSAM, made the first test compile/run
2012-09-03 18:01:24 +00:00
b6150bd27e
Removed deprecated unit tests from testGaussianFactorGraphB and moved SPCG-specific ones to testGraph and testJacobianFactorGraph
2012-09-03 18:00:26 +00:00
ab7594e8f0
Made SPCG unit tests compile again, needed several fixes in iterative.h
2012-09-03 00:06:13 +00:00
3e93c488e5
Removed extra code that was sometimes maintaining a staircase pattern in JacobianFactor by sorting rows - a holdover from the staircase optimization that is no longer done now that we are using Eigen's QR
2012-08-27 22:29:56 +00:00
af48d086ed
Fixed missing renames
2012-07-27 19:15:58 +00:00
5177f31a5d
Merge remote-tracking branch 'svn/trunk' into remove_slam_namespaces
...
Conflicts:
gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
matlab/examples/Pose2SLAMExample_circle.m
matlab/examples/Pose2SLAMExample_graph.m
matlab/examples/StereoVOExample_large.m
tests/testGradientDescentOptimizer.cpp
2012-07-27 19:01:43 +00:00
7fc6a622bf
Added additional factors to the serialization unit test
2012-07-25 22:13:22 +00:00
168ddf5457
add Cal3DS2.calibrate() with fixed point iteration
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reorg nonlinear conjugate gradient solvers
wrapper for the linear solvers
2012-07-24 21:06:33 +00:00
592fa95d66
Fixed serialization for LieVector and LieMatrix
2012-07-24 14:50:01 +00:00
c2daf40c5d
Removed SLAM namespaces from testSerializationSLAM. Instead of testing each SLAM namespace individually, a single test was created that instanciates all variable-factor combinations. However, there is currently an issue with LieVector that should be resolved.
2012-07-23 22:50:21 +00:00
01bcd9e939
Removed SLAM namespace from testNonlinearOptimizer
2012-07-23 22:47:31 +00:00
7a0030070c
Removed SLAM namespace from testNonlinearISAM
2012-07-23 22:46:55 +00:00
c8f3356af5
Removed SLAM namespace from testNonlinearEquality
2012-07-23 22:46:21 +00:00
0e6762e5c9
Removed SLAM namespace from testInferenceB
2012-07-23 22:45:46 +00:00
2de44904ad
Removed SLAM namespace from testGraph
2012-07-23 22:45:07 +00:00
a641f599f6
Removed SLAM namespace from testGradientDescentOptimizer
2012-07-23 22:44:02 +00:00
fb33b8a609
removed SLAM namespace from testGaussianJunctionTreeB
2012-07-23 22:43:17 +00:00
0863b4148d
Removed SLAM namespace from testGaussianISAM2
2012-07-23 22:42:42 +00:00
f56d9c18e5
Removed SLAM namespace from testDoglegOptimizer
2012-07-23 22:41:53 +00:00
c32d1c7e02
Fixed dimensions bug in Marginals and added unit test
2012-07-23 19:29:52 +00:00
d397139fa9
Fixed dimensions bug in Marginals and added unit test
2012-07-23 19:20:53 +00:00
6266a2c56d
Removed SimpleString from CppUnitLite - now just uses std::string and boost::lexical_cast
2012-07-18 15:43:54 +00:00
af52b6811f
Fixing small warnings
2012-07-10 18:35:57 +00:00
96fc5991db
Automatic removal of unused variables in iSAM2 working in unit tests!
2012-06-30 22:32:49 +00:00
86f19362ab
Return FastSet instead of std::set from NonlinearFactorGraph::keys()
2012-06-30 22:32:46 +00:00
f06c7ad2e9
Lots of code de-duplication and cleanup in testGaussianISAM2
2012-06-30 22:32:42 +00:00
abd6795f5b
In progress removing variables from iSAM2
2012-06-30 19:17:54 +00:00
57ca7d77db
Removed Permuted views to simplify a lot of code - all objects that need to be permuted now have their data rearranged instead of using the "Permuted" indirection class.
2012-06-30 01:45:21 +00:00
c443ccbedd
More adding of static to avoid naming conflicts in unit tests
2012-06-30 01:44:00 +00:00
c7ff913f64
Added yet another configuration parameter to iSAM2. 'enablePartialRelinearizationCheck' checks variables for relinearization by descending the Bayes tree. Once a variable does not need to be relinearized, we stop checking that branch. A full check is still the default.
2012-06-28 20:46:53 +00:00
4e2aae0121
formatting of comments, added parent() interface for Bayes Tree cliques
2012-06-26 18:49:30 +00:00
1bf3ae51a9
Fixed make check compile error
2012-06-24 14:49:52 +00:00
2d0ce1c3ca
Streamlining of SLAM namespaces:
...
planarSLAM Values and Graph now derive from Pose3SLAM.
visualSLAM Values and Graph now derive from pose3SLAM.
Several methods have been renamed to make them consistent through these 4 namespaces:
addPrior -> addPosePrior
addHardConstraint -> addPoseConstraint
addOdometry/addConstraint -> addRelativePose
All gtsam and matlab examples/tests run.
PS: please don't use the deprecated typedefs in these namespaces.
2012-06-24 02:48:12 +00:00
0fe2d527f9
Fixed warnings due to discrete. GTSAM now Wall-safe?
2012-06-22 21:45:36 +00:00
6f1ea87a00
clean up noise model: Remove Shared[NoiseModel] classes and headers, typedef for backward compatibility in NoiseModel.h. Fix all tests and examples to create shared noise models through static functions in noise model classes. Fix MATLAB wrapper and examples as well. Add tests for MATLAB examples
2012-06-22 19:36:49 +00:00
94a769a447
Created derived classes for SymbolicSequentialSolver and SymbolicMultifrontalSolver. This simplifies calling eliminate, mimics the Gaussian versions, and makes matlab wrapping possible.
2012-06-21 22:31:41 +00:00
8789201822
Added mechanism to create a constrained ordering directly from a NonlinearFactorGraph
2012-06-20 01:35:42 +00:00
9cb903fe08
1. remove a redundant constructor of PinholeCamera
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2. remove a "backproject_from_camera" function from PinholeCamera, please use "backproject" directly
2012-06-19 15:28:22 +00:00
d57fc32e74
To simplify FactorGraph, removed convertCastFactors and dynamicCastFactors from FactorGraph - replaced their calls with in-place code to do the needed conversions
2012-06-18 14:55:30 +00:00
cee80c1938
add a generic nonlinear cg solver
2012-06-13 01:21:10 +00:00
8687e1293c
disable error msg
2012-06-12 14:20:08 +00:00
6fd2ac7f86
move iterative.* back to stable. add a template-style nonlinear iterative solver
2012-06-12 14:19:01 +00:00
83dc580220
add a nonlinear gradient-descent optimizer, and a unit test.
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todo: 1. test wolfe condition or armijo rule, 2. use iterative.h
2012-06-11 22:10:23 +00:00
3be4be9039
Moved "bigobj" MSVC compile flag to affect testSerializationSLAM
2012-06-11 14:50:22 +00:00
80e2179a8d
Cleaned up typedefs in FactorGraph.h (and removed FactorizationResult), and also made sure ::shared_ptr was never assumed to exist for a FACTOR template argument. Should it exist, ever?
2012-06-09 21:33:10 +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
3d2c3aff05
Moved all Simulated* example domains and smallExample to the tests folder so they are no longer installed
2012-06-09 20:15:44 +00:00
f45c236585
Isolated exception case for use of Symbol.key(), removed use of Symbol in several tests. Removed "using namespace xxx" in header
2012-06-09 19:17:15 +00:00
dc879fe280
Moved testSubgraphPreconditioner from experimental back to linear/tests, though most of it is commented out, mostly because of JacobianFactorGraph - GaussianFactorGraph distinction
2012-06-09 18:54:47 +00:00
54bfe722ad
Returning ordering from planarGraph is obsolete since Index change
2012-06-09 18:52:22 +00:00
d70622abe0
Rearranged matlab folders to avoid calling utility functions "examples"
2012-06-07 20:09:54 +00:00
8bfe8571bc
Removed template argument from NonlinearISAM, now just uses NonlinearFactorGraph
2012-06-07 17:45:05 +00:00
a9c36fc172
move linear algebra functions for jacobian factor graph to a new file
2012-06-07 01:24:19 +00:00
ad3b431c4d
Moved building of wrap libraries to a cmake macro and moved install for matlab components to the appropriate folder
2012-06-05 18:05:00 +00:00
bef45d5b7b
Merged from branch 'branches/windows'
2012-06-05 14:09:58 +00:00
10d6157d1d
formatting/naming only
2012-06-05 13:29:04 +00:00
6b1e862688
Fix errors
2012-06-04 18:46:05 +00:00
9c8377f476
Merge remote-tracking branch 'svn/trunk' into windows
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Conflicts:
examples/Pose2SLAMExample.cpp
examples/vSLAMexample/CMakeLists.txt
examples/vSLAMexample/vISAMexample.cpp
gtsam/nonlinear/ISAM2-impl.cpp
gtsam/slam/pose2SLAM.cpp
gtsam/slam/tests/testGeneralSFMFactor.cpp
gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
gtsam/slam/tests/testPlanarSLAM.cpp
gtsam/slam/tests/testPose2SLAM.cpp
tests/testDoglegOptimizer.cpp
tests/testGraph.cpp
2012-06-04 14:13:37 +00:00
f924d01bc3
Synchronized mixed case naming
2012-06-03 05:25:05 +00:00
8440939f27
Using symbol_shorthand instead of redundant kx, kl functions
2012-06-02 19:28:21 +00:00
a2512475c9
Symbol.h is now included just in time, no longer by default everywhere.
2012-06-02 19:05:38 +00:00
5160c2eb50
Significant API change in slam (GTSAM 2.0.1 or 2.1): to eliminate confusion and give the user more freedom in creating their own Keys, the different slam variants no longer create Symbol keys themselves. Instead, all interaction is done via Keys (which are just unordered, unsigned ints). All PoseSLAM unit tests and examples now just use sequential keys. However, a user can still create Keys using the Symbol constructor, which is illustrated in the landmark-based unit tests and examples.
2012-06-02 16:18:40 +00:00
1ca9e7049e
Merge remote-tracking branch 'svn/trunk' into windows
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Conflicts:
gtsam/linear/HessianFactor.h
gtsam/nonlinear/Marginals.cpp
2012-05-28 12:22:36 +00:00
ace4327897
reorg the nonlinear/linear parameters to accommodate the iterative solvers
2012-05-25 15:26:30 +00:00
47830cd56f
Added clone and rekey facilities to nonlinear factor graph
2012-05-24 16:05:01 +00:00
bcfe39f4ae
Merge remote-tracking branch 'svn/trunk' into windows
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Conflicts:
gtsam/nonlinear/Marginals.h
2012-05-23 18:55:18 +00:00
c2c9c4a982
Almost everything compiles and passes in windows
2012-05-23 18:51:49 +00:00
3264bd5a39
Reverted testOccupancyGrid.cpp back so that it does not break make check.
2012-05-23 15:57:12 +00:00
c3ca8175e9
removed old SPCG test
2012-05-22 15:05:15 +00:00
18e23c20df
Added missing header
2012-05-22 12:27:34 +00:00
2bd7a0ed43
Added generic re-key function to nonlinear factor
2012-05-21 20:54:42 +00:00
54f6f3629c
Added clone() functionality to nonlinear factors
2012-05-21 20:54:40 +00:00
b66dc3586d
Small change to merge in compatibility patch
2012-05-21 19:44:25 +00:00
d4a70b66d9
Added code to run MCMC with real data.
2012-05-21 19:06:26 +00:00
ba6439dbb1
Implemented a very slow Metropolis algorithm
2012-05-18 22:09:20 +00:00
9682745b81
Added ray tracing and implemented LaserFactor::operator()(const Values &)
2012-05-18 20:12:08 +00:00
c50b972dd1
Added discrete to convenience libraries dependencies
2012-05-17 16:33:51 +00:00
d0218cf512
2012-05-16 18:09:59 +00:00
1ce95c1d89
Removed LDL in favor of Cholesky
2012-05-15 15:49:14 +00:00
68467448a7
Fixed small LM bug (solving original instead of damped system) and added unit test
2012-05-15 13:23:43 +00:00
9e0996296a
Added Cholesky/LDL switch in NonlinearOptimizer, preparing to remove
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LDL, remove dependency of NonlinearOptimizer on linear solvers.
2012-05-15 05:08:57 +00:00
516e1610a1
Added joint marginals and unit tests
2012-05-15 00:01:38 +00:00
754e289737
Fixed errors in unit tests from updated NonlinearOptimizers
2012-05-14 22:31:42 +00:00
51d38f4b5d
Added Marginals unit test and class
2012-05-14 21:33:03 +00:00
4b541e1f62
Unit tests now compile with new NonlinearOptimizer
2012-05-14 21:07:56 +00:00
88f5e3d9b6
Merge remote-tracking branch 'svn/trunk' into NLO
...
Conflicts:
examples/Pose2SLAMExample_advanced.cpp
2012-05-14 18:35:15 +00:00
cb017fee80
tested and documented ability to swap factors with ISAM2
2012-05-01 18:54:44 +00:00
9ba94e4d3c
Changes in build scripts for more easily creating executables in projects
2012-04-24 14:01:42 +00:00
2ac1473a84
Fixed iSAM2 deep copy of empty tree
2012-04-09 03:02:11 +00:00
45f2101f48
Fixed deep copy in iSAM2 and added unit test to reproduce problem
2012-04-06 18:56:07 +00:00
89e05a6875
Updating unit tests and SLAM namespaces
2012-04-05 02:45:50 +00:00
ee532f2b1f
Included the inline header at the end of the standard header
2012-04-02 20:17:15 +00:00
46a1fb1103
Merge remote-tracking branch 'svn/trunk' into NLO
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Conflicts:
.cproject
2012-03-31 01:02:45 +00:00
b67707542d
Updated CMakeLists to use newer cmake scripts
2012-03-29 18:57:31 +00:00
ba8fb0ba27
iSAM2 factorization parameter to choose LDL or QR
2012-03-27 23:30:19 +00:00
3baba11815
Fine-grained ordering constraints in iSAM2
2012-03-24 16:52:55 +00:00
Alex Hagiopol
dellaert
Frank
cbeall3
Luca
Thomas Schneider
Paul Drews
zhaoyang
Sungtae An
Mike Bosse
Richard Roberts
HannesSommer
Yong-Dian Jian
Zsolt Kira
jing
Jing Dong
Frank Dellaert
Alex Cunningham
Stephen Williams
Duy-Nguyen Ta
Chris Beall
bpeasle