80187362b8
attemping to expose ChartValue for expressions with non DefaultCharts, but needs testing
2014-10-28 11:20:02 +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
4a3dc51f85
more tests work, except for serialization based tests
2014-10-24 23:47:02 +02:00
e7ec6b3fa5
Fixed size
2014-10-23 12:04:16 +02:00
49ff33602d
Undid change
2014-10-23 01:44:04 +02:00
0501750c7c
Fixed accuracy and size issues in Quaternion mode
2014-10-22 22:54:25 +02:00
48a6777935
Some refactoring
2014-10-22 16:26:40 +02:00
0f53c8d5ec
Timing of Ceres AutoDiff adaptor
2014-10-22 12:49:18 +02:00
f44e6f0187
Moved AdaptAutoDiff template in its own header file
2014-10-22 11:41:04 +02:00
516bb4b0b1
Isolated Snavely example
2014-10-22 11:23:35 +02:00
439f51ec7f
test out invoke
2014-10-22 10:10:58 +02:00
1eb5e185e5
New numericalDerivatives with traits an Charts - still some segfaults, *and* there should be no need for (a) multiple prototypes to match against c++ pointers, (b) the use of explicit template arguments. A task for someone...
2014-10-21 18:50:52 +02:00
224b71d696
Created testManifold
2014-10-21 12:54:28 +02:00
0acffe5ae9
Fixed bug in DefaultChart: keeping a reference s never a good idea.
2014-10-21 11:13:14 +02:00
25ad9ade05
Moved AdaptAutoDiff into its own test
2014-10-21 10:42:30 +02:00
bf16446f92
Deal with traits changes
2014-10-21 01:26:17 +02:00
e0841fb3e6
No more Ceres dependecy, copied relevant Ceres files here (for now)
2014-10-20 23:53:56 +02:00
bce84ca4db
Successfully created Expression from AutoDiff function!
2014-10-20 15:38:27 +02:00
bf5580d518
AdaptAutoDiff now works with RowMajor Eigen matrices
2014-10-20 14:39:28 +02:00
df5e584412
Compiles, but Jacobains not correct yet
2014-10-20 14:32:20 +02:00
a423f284e9
Canonical coordinates prototype, works for Snavely
2014-10-20 14:23:08 +02:00
821f776118
Wrapper works to some extent
2014-10-20 09:43:32 +02:00
7ebc8e969f
Charts with default constructors
2014-10-20 09:29:45 +02:00
63ae33088e
Some success on the way to autodiff
2014-10-19 23:47:59 +02:00
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
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
Mike Bosse
dellaert