Commit Graph

3877 Commits (00b12c7dc1238406d1b7a76055076c3ccca0541f)

Author SHA1 Message Date
Richard Roberts 00b12c7dc1 Added simple matrix-math eliminate and shortcut functions, and a simple matrix-math test of the feasibility of correcting root shortcut joint marginals. 2012-10-29 15:52:02 +00:00
Alex Cunningham c3f38349b4 Fixed include paths for matlab modules 2012-10-28 20:48:17 +00:00
Richard Roberts cb5f186031 Two more patches after last checkin - removed numCachedShortcuts from MATLAB wrapper, and added EliminateQR as default argument to GaussianFactorGraph eliminate functions 2012-10-28 06:43:05 +00:00
Richard Roberts b3ba46241c Missing typename 2012-10-28 06:37:57 +00:00
Richard Roberts 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
Richard Roberts 279738c56f Renamed unit tests to match file name 2012-10-28 06:21:17 +00:00
Richard Roberts 600fcd027d Moved wrapper functions to header file to clean up code 2012-10-28 06:21:15 +00:00
Richard Roberts c251487baf Wrapped GaussianMultifrontalSolver 2012-10-27 19:45:30 +00:00
Richard Roberts 24111423d7 Made specific eliminate and eliminateOne methods for SymbolicFactorGraph and GaussianFactorGraph and made them accessible from MATLAB 2012-10-27 19:45:28 +00:00
Richard Roberts 920bb52453 Moved eliminate and eliminateOne from inference to FactorGraph 2012-10-22 17:49:41 +00:00
Stephen Williams f9494679d2 Added optional derivatives to 'inverse' and 'compose' for variable type 'PoseRTV' 2012-10-22 17:31:41 +00:00
Stephen Williams 227f9c1620 Added optional sensor to body transformation to the range factor (and unit tests) 2012-10-21 22:34:56 +00:00
Stephen Williams 857b0d0d8c Added optional derivatives to compose, between, and inverse for the two camera types 2012-10-21 22:32:16 +00:00
Stephen Williams 5505483111 Fixed bug in iSAM2 when removing factors/variables. The set of ordering constraints should not contain unaffected variables. 2012-10-21 02:09:58 +00:00
Duy-Nguyen Ta 71bd64c693 nonrecursive version of optimizeWildfire for ISAM2 to avoid stack overflow problem 2012-10-09 20:10:34 +00:00
Alex Cunningham 76b88bd06e Added empty() to BayesNet 2012-10-09 18:21:06 +00:00
Alex Cunningham f8b96ad090 Added print() to Reduction 2012-10-09 17:48:38 +00:00
Alex Cunningham b05cd24a0b Pacified signed/unsigned warning 2012-10-09 15:46:57 +00:00
Richard Roberts 25870f5797 Disabled problematic joint marginal code in BayesTree for now 2012-10-09 13:12:33 +00:00
Richard Roberts 360f0e9d6b ifdef to make BayesTree joint marginals fall back on sequential solver joints to avoid duplicate information problem 2012-10-09 13:09:47 +00:00
Richard Roberts ec3392c4e7 Set static mex package script to version 2.2.0 2012-10-09 02:58:26 +00:00
Richard Roberts 2b7350ce45 Incremented version to 2.2.0 2012-10-09 02:54:23 +00:00
Richard Roberts 90ca1d46f5 Removed obsolete code for avoiding partial elimination in BayesTreeCliqueBase::shortcut and GenericSequentialSolver::conditionalBayesNet 2012-10-09 00:18:22 +00:00
Richard Roberts df9a86d340 Fixed typo/spelling (hopefully for the last time) 2012-10-09 00:14:42 +00:00
Richard Roberts d90f44129c Fixed typo/spelling 2012-10-09 00:12:51 +00:00
Richard Roberts 656080ad2f Fixed warning 2012-10-08 23:58:57 +00:00
Richard Roberts a06e8060ae Made new marginals with caching the default 2012-10-08 23:56:31 +00:00
Richard Roberts 2841b8665f Fixed comments and formatting 2012-10-08 23:34:17 +00:00
Richard Roberts e52b6efb68 Fixed typo/spelling 2012-10-08 23:27:39 +00:00
Richard Roberts 2719f7ca86 Fixed compile error on GCC 2012-10-08 23:15:16 +00:00
Richard Roberts 3218a7bca4 Added missing main function 2012-10-08 23:03:02 +00:00
Richard Roberts 34fda99f30 Added missing chrono library when statically compiling matlab wrapper 2012-10-08 22:51:53 +00:00
Richard Roberts 4fc056b4b5 Cleaned up Boost version checks 2012-10-08 22:40:55 +00:00
Richard Roberts 1daac6baf0 Nicer formatting in main CMakeLists.txt 2012-10-08 22:40:53 +00:00
Richard Roberts 0f6516dc3d Using Reductions in all code paths for computing marginals, but not yet joint marginals. Also adds a lot of timing instrumentation in marginals code. 2012-10-08 22:40:51 +00:00
Richard Roberts 9793f8b7f7 Finalized batch and incremental timing scripts 2012-10-08 22:40:47 +00:00
Richard Roberts 82f98fe1fb Added additional timing instrumentation in elimination data structures 2012-10-08 22:40:45 +00:00
Richard Roberts bc589f45cd Print spaces in place of _'s in timing outline 2012-10-08 22:40:42 +00:00
Richard Roberts f3a2887af1 Moved GaussianBayesTree tests into their own file, out of testGaussianISAM 2012-10-08 22:40:40 +00:00
Richard Roberts eb21cf0911 Cleaned up information/augmentedInformation for GaussianFactor and GaussianConditional 2012-10-08 22:40:37 +00:00
Richard Roberts 550e683cad Fixed comment 2012-10-08 22:40:31 +00:00
Richard Roberts 9ebc906150 Print timing outline in order of appearance in code 2012-10-08 22:40:29 +00:00
Alex Cunningham 82593a2432 Added conversion functions from Fast* classes to stl containers. Added permuteWithInverse() to BayesTree 2012-10-08 20:30:59 +00:00
Alex Cunningham a004354c20 Added assertions to check for valid pointer values 2012-10-08 19:11:02 +00:00
Stephen Williams 936081a05d Added an optional SensorToBody transformation to the GenericProjectionFactor. This allows the cameras to be rotated and/or translated from the main robot/vehicle frame. 2012-10-08 10:38:59 +00:00
Yong-Dian Jian 98b4da1d95 add std::endl 2012-10-08 01:42:38 +00:00
Yong-Dian Jian 535809c1c6 add #include <iostream> 2012-10-08 01:35:00 +00:00
Yong-Dian Jian d8c1f58eea show msg where point is behind camera 2012-10-08 01:25:18 +00:00
Yong-Dian Jian 16743bacd8 roll back changes 2012-10-08 01:12:51 +00:00
Yong-Dian Jian abc01c0779 enable display msg for exception 2012-10-07 23:11:41 +00:00