dellaert
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17d352bab4
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Slight re-factor
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2014-11-02 14:42:59 +01:00 |
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dellaert
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d2f56b13ed
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Non-trivial noise models now correctly handled (at a small performance penalty, due to malloc of Vector b).
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2014-11-02 14:37:52 +01:00 |
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dellaert
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90a0fa6e45
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Check if active
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2014-11-02 13:53:22 +01:00 |
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dellaert
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a8ab910c32
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Merged twio changes in: the is_constrained() flag that does away with the dynamic cast, and the changes duy made in commit a61b49d to remove the constrained noise model hack. At the same time, both linearize methods (in expressionFactor and NonlinearFactor) now make use of is_constrained().
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2014-11-02 13:45:54 +01:00 |
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dellaert
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b9e3c3b116
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Made unsafe constructor private, but made ExpressionFactor<T> a friend.
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2014-11-02 12:01:52 +01:00 |
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dellaert
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cb69f2cb82
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Fastest linearize so far. Putting 'unsafe' constructor in JacobianFactor itself makes a *huge* difference.
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2014-11-02 11:40:48 +01:00 |
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dellaert
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7aaf4dae8c
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Merge remote-tracking branch 'origin/feature/BAD_VerticalBlockMatrix' into feature/BAD_WriteableJacobianFactor
Conflicts:
gtsam_unstable/nonlinear/ExpressionFactor.h
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2014-11-01 17:45:23 +01:00 |
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dellaert
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7debde7518
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Moved to ExpressionFactor that now uses it - timing seems worse ?
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2014-11-01 15:12:06 +01:00 |
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dellaert
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f38b0b0eed
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Fixed unwhitenedError
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2014-11-01 11:50:28 +01:00 |
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dellaert
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7b539fbb5c
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Make JacobianMap a wrapper around a VerticalBlockMatrix, which avoids us having to make a vector of references into it
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2014-11-01 11:35:49 +01:00 |
Sungtae An
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97d4120858
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Changed the type of JacobianMap as std::vector
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2014-10-31 07:10:53 -04:00 |
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dellaert
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bf16446f92
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Deal with traits changes
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2014-10-21 01:26:17 +02:00 |
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dellaert
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8ee16c9018
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Comments for Paul
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2014-10-19 11:19:09 +02:00 |
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dellaert
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6e142184cc
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Implemented is_manifold and dimension for all types in testExpressionFactor
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2014-10-19 00:35:25 +02:00 |
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dellaert
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0bcca2c386
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Drastic reduction in allocations at ExpressionFactor construction by having dims constructed imperatively, and using it for both keys_ and dimensions_
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2014-10-16 14:16:58 +02:00 |
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dellaert
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944422e295
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Only ExpressionFactor needs dimensions! Also, add dimensions at construction -> speeds up linearize.
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2014-10-16 11:15:47 +02:00 |
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dellaert
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649478f186
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Should work but seg-faults
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2014-10-15 01:19:14 +02:00 |
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dellaert
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9b1c9bbf37
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Allocate temporary matrix on the stack rather tahn on heap, and give VerticalBlockMatrix a view on it.
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2014-10-15 00:56:06 +02:00 |
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dellaert
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c88b2a5902
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Fixed bizarre link erro as well as off-by-1 bug
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2014-10-15 00:34:28 +02:00 |
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dellaert
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0f055f7910
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Pass matrix to VerticalBlockMatrix constructor
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2014-10-15 00:28:53 +02:00 |
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dellaert
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c971207abf
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Switched to vector for dimensions
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2014-10-14 17:16:31 +02:00 |
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dellaert
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1c3f328fb2
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Successful switch to Blocks !
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2014-10-14 15:43:41 +02:00 |
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dellaert
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f3e1561105
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Prepare VerticalBlockMatrix for filling
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2014-10-14 11:13:49 +02:00 |
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dellaert
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4c76f39009
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Now uses dimensions
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2014-10-14 09:55:34 +02:00 |
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dellaert
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781cc6daa9
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keys now from expression_
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2014-10-14 08:59:01 +02:00 |
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dellaert
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4d1eb05c7d
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Passing JacobianMap as an argument now..
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2014-10-12 20:16:08 +02:00 |
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dellaert
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fea2eb0b5f
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Inlined VerticalBlockMatrix construction
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2014-10-12 11:05:43 +02:00 |
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dellaert
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ed62271f81
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Dealing with constrained noise model
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2014-10-12 10:52:07 +02:00 |
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dellaert
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0c7ea68f2f
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Now overwriting linearize as preparation for direct VericalBlockMatrix
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2014-10-11 17:05:53 +02:00 |
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dellaert
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563c4d214c
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Renamed BADFactor -> ExpressionFactor
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2014-10-09 13:00:56 +02:00 |