Alex Cunningham
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1525253123
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Inequality Constraints now work in a simple obstacle-avoidance demo in testSQPOptimizer. It should be noted that convergence conditions are still not implemented.
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2009-11-28 21:44:07 +00:00 |
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Alex Cunningham
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395e4ae3f1
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Fixed sign issue on nonlinear constraints, so that that it is not necessary to flip the sign on the delta configs before using exmap.
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2009-11-28 21:00:09 +00:00 |
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Alex Cunningham
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0ff7e3a5d9
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Changed interface on constraint g(x) and grad_g(x) functions to take a list of keys, so that all of the variables in a factor can be used as necessary. Moved g(x) into base NonlinearConstraint class and some cleanup.
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2009-11-28 19:18:02 +00:00 |
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Alex Cunningham
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107c6846fb
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Added basic inequality constraint handling to NonlinearConstraint. Demo still in progress, but now constraints are explicitly handled as either equality or inequality constraints, with an active() function to determine if it is necessary to use the constraint.
Created testOrdering for new subtract() function to remove parts of an ordering.
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2009-11-28 18:35:36 +00:00 |
Richard Roberts
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674d35855b
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Made "Debug" the default build type so we get -g flags
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2009-11-27 20:27:05 +00:00 |
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Alex Cunningham
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f3e825767b
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NonlinearConstraints now handle inactive constraints (when the state is already in the feasible region) by returning empty factors on linearization.
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2009-11-27 18:42:01 +00:00 |
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Alex Cunningham
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cf6474c99b
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Added a graph implementation for multi-robot control systems. Currently can only really constrain the ends of a trajectory.
Made a number of fixes and updates to the ControlConfig as well.
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2009-11-27 17:59:03 +00:00 |
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Richard Roberts
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f6ff04b75f
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One more fix...
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2009-11-26 20:56:33 +00:00 |
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Richard Roberts
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7f40b88427
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Another fix
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2009-11-26 17:43:03 +00:00 |
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Richard Roberts
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dd5d65b170
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Small fixes
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2009-11-26 17:35:16 +00:00 |
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Alex Cunningham
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2a2e11d05d
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Added the config and units for a robot control system example that keeps a position and velocity model of a robot's motion.
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2009-11-26 05:52:17 +00:00 |
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Richard Roberts
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da36d07b93
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Adding buildtools not used by gtsam, but used by other projects (figuring people will always have gtsam checked out)
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2009-11-26 00:15:40 +00:00 |
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Alex Cunningham
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43e4c66407
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Added more detail to VSLAM test that diverges.
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2009-11-24 16:03:57 +00:00 |
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Alex Cunningham
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d788e9833d
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Added tests to ensure that configs will only update existing values when using exmap and not add new ones if there are more values in the delta config. VectorConfig and VSLAMConfig both do this properly now.
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2009-11-24 15:12:59 +00:00 |
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Alex Cunningham
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e3e79e3888
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Added lagrange access function to the SQPOptimizer
Added a test testSQP to try changing the initial Lagrange multiplier values to find a way around the stability problem, but there is no effect.
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2009-11-24 14:44:46 +00:00 |
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Alex Cunningham
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140e79572f
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Added a test to testSQP to check VSLAM solution stability when the initial config is away from the ground truth. The test without the nonlinear constraints has the same stability problem, and both the constrained and unconstrained versions are in place and disabled.
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2009-11-24 14:14:03 +00:00 |
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Alex Cunningham
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fec280db8e
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Added a nonlinear constraint version of the stereo SQP example, but the test when the initial configuration is incorrect is not stable and the points continue moving away indefinitely.
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2009-11-24 06:39:27 +00:00 |
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Alex Cunningham
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31856ce598
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SQPOptimizer can now do its own initialization of the Lagrange multipliers.
Cleaned up NonlinearConstraint
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2009-11-23 22:10:52 +00:00 |
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Alex Cunningham
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a5515d9d57
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SQPoptimizer can now perform optimization, and has a test using the linear map-warping example.
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2009-11-23 21:25:31 +00:00 |
Viorela Ila
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ac315082aa
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new example from RSS sqrtSAM in testBayesTree
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2009-11-23 20:11:10 +00:00 |
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Alex Cunningham
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0b333630e7
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Added an SQPOptimizer class with accompanying test - currently doesn't do much
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2009-11-23 19:57:35 +00:00 |
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Viorela Ila
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d15a7a073c
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SymbolicFactor works in Matlab
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2009-11-23 19:45:09 +00:00 |
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Alex Cunningham
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36877532ad
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Added ground truth for VSLAM example in testSQP
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2009-11-23 16:45:53 +00:00 |
Frank Dellaert
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f272e2f6fe
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Added a second smoother test
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2009-11-23 05:27:37 +00:00 |
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Frank Dellaert
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9bac438dbe
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Play nice with BOOST_FOREACH: non-const begin/end. Also removed buggy clear().
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2009-11-23 05:27:19 +00:00 |
Michael Kaess
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10a8ac34ec
|
iSAM smoother test
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2009-11-23 01:16:58 +00:00 |
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Frank Dellaert
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4951a25453
|
More efficient removeTop
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2009-11-23 00:02:06 +00:00 |
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Frank Dellaert
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35af122e83
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Added a new version of removeTop and simplified update
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2009-11-22 23:50:01 +00:00 |
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Michael Kaess
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7d384488e3
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BayesTree::update generalized and moved from testIncremental to BayesTree; testIncremental removed
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2009-11-22 23:35:13 +00:00 |
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Frank Dellaert
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64a43b0492
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removeTop now does not bomb when a clique does not exist: it just does nothing
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2009-11-22 22:59:56 +00:00 |
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Frank Dellaert
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4e74edba72
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Some simplification
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2009-11-22 22:39:32 +00:00 |
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Michael Kaess
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ab117947d7
|
update now takes a factor graph, rather than an individual factor
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2009-11-22 22:26:24 +00:00 |
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Michael Kaess
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a3de1df5a4
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adding orphans assuming that the first separator key refers to the parent; GTSAM_PRINT define
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2009-11-22 21:18:31 +00:00 |
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Frank Dellaert
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198f73a05f
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Insert conditionals straight into the topless bayesTree
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2009-11-22 18:40:55 +00:00 |
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Frank Dellaert
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32db0595f4
|
using removeTop now
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2009-11-22 18:27:14 +00:00 |
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Frank Dellaert
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952798e751
|
fixed orphans bug
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2009-11-22 18:22:17 +00:00 |
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Frank Dellaert
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9da2f16f4d
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Removed copy/paste in unit tests
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2009-11-22 18:12:29 +00:00 |
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Frank Dellaert
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d4aaa5d114
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Added two more removePath tests and fixed bug in removeTop. But orphan list is still incorrect.
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2009-11-22 18:06:28 +00:00 |
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Michael Kaess
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45292f7bd6
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Cliques implemented; unit test on orphans for removePath; bug fix in removePath/orphans
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2009-11-22 17:40:24 +00:00 |
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Frank Dellaert
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53754ccbb8
|
removeTop with one factor implemented and one test works (orphans not yet checked)
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2009-11-22 17:34:59 +00:00 |
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Frank Dellaert
|
6f11c0803b
|
Cliques class
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2009-11-22 16:46:29 +00:00 |
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Frank Dellaert
|
7ce62f1626
|
Some template magic and boost:tie cleared up the compile issues in removePath
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2009-11-22 16:04:51 +00:00 |
|
Michael Kaess
|
4449cfd30c
|
remove_path now also returns list of orphaned subtree roots; compile problem...
|
2009-11-21 23:41:43 +00:00 |
|
Frank Dellaert
|
82aae3c161
|
Some re-factoring (using BOOST_FOREACH to loop over string list), root is now NULL after removing root clique
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2009-11-21 21:48:10 +00:00 |
|
Alex Cunningham
|
1fd0404ec9
|
Cleanup in testSQP, also demoed the unary constraint, as well.
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2009-11-21 19:05:24 +00:00 |
|
Frank Dellaert
|
00b5b25591
|
Awesome recursive version of removePath
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2009-11-21 06:14:53 +00:00 |
|
Frank Dellaert
|
072846a70f
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moved addClique and removeClique implementations to inl.h,
removePath takes clique argument now
|
2009-11-21 06:07:46 +00:00 |
|
Frank Dellaert
|
286d826119
|
removed print
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2009-11-21 06:06:30 +00:00 |
|
Frank Dellaert
|
b113194e58
|
While watching TV :-) added some constructors for more readable tests.
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2009-11-21 04:59:50 +00:00 |
|
Frank Dellaert
|
a0a250750b
|
compare config
|
2009-11-21 04:22:59 +00:00 |