dellaert
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e0c4d84dd7
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Fixed some tests/warnings in quaternion mode
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2014-11-03 00:59:19 +01:00 |
Mike Bosse
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11416cac65
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Merge branch 'feature/BAD' into feature/BAD_generic_value_traits
Conflicts:
gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
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2014-11-02 19:00:30 +01:00 |
|
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 |
|
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 |
|
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 |
|
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 |
|
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 |
|
dellaert
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12e38a44e4
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WriteableJacobianFactor will allow ExpressionFactor to write into the factor directly, (hopefull) eliminating huge overhead.
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2014-11-01 14:13:08 +01:00 |
|
dellaert
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a4fa61a7a4
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Removed JacobianMap tests
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2014-11-01 11:56:38 +01:00 |
|
dellaert
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d0c3bc0c8e
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Fixed tests
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2014-10-31 16:27:54 +01:00 |
|
Mike Bosse
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80187362b8
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attemping to expose ChartValue for expressions with non DefaultCharts, but needs testing
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2014-10-28 11:20:02 +01:00 |
|
Mike Bosse
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4a3dc51f85
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more tests work, except for serialization based tests
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2014-10-24 23:47:02 +02:00 |
|
dellaert
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e7ec6b3fa5
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Fixed size
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2014-10-23 12:04:16 +02:00 |
|
dellaert
|
49ff33602d
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Undid change
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2014-10-23 01:44:04 +02:00 |
|
dellaert
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0501750c7c
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Fixed accuracy and size issues in Quaternion mode
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2014-10-22 22:54:25 +02:00 |
|
dellaert
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48a6777935
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Some refactoring
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2014-10-22 16:26:40 +02:00 |
|
dellaert
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f44e6f0187
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Moved AdaptAutoDiff template in its own header file
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2014-10-22 11:41:04 +02:00 |
|
dellaert
|
516bb4b0b1
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Isolated Snavely example
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2014-10-22 11:23:35 +02:00 |
|
dellaert
|
439f51ec7f
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test out invoke
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2014-10-22 10:10:58 +02:00 |
|
dellaert
|
1eb5e185e5
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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...
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2014-10-21 18:50:52 +02:00 |
|
dellaert
|
224b71d696
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Created testManifold
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2014-10-21 12:54:28 +02:00 |
|
dellaert
|
0acffe5ae9
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Fixed bug in DefaultChart: keeping a reference s never a good idea.
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2014-10-21 11:13:14 +02:00 |
|
dellaert
|
25ad9ade05
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Moved AdaptAutoDiff into its own test
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2014-10-21 10:42:30 +02:00 |
|
dellaert
|
bf16446f92
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Deal with traits changes
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2014-10-21 01:26:17 +02:00 |
|
dellaert
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e0841fb3e6
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No more Ceres dependecy, copied relevant Ceres files here (for now)
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2014-10-20 23:53:56 +02:00 |
|
dellaert
|
bce84ca4db
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Successfully created Expression from AutoDiff function!
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2014-10-20 15:38:27 +02:00 |
|
dellaert
|
bf5580d518
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AdaptAutoDiff now works with RowMajor Eigen matrices
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2014-10-20 14:39:28 +02:00 |
|
dellaert
|
df5e584412
|
Compiles, but Jacobains not correct yet
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2014-10-20 14:32:20 +02:00 |
|
dellaert
|
a423f284e9
|
Canonical coordinates prototype, works for Snavely
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2014-10-20 14:23:08 +02:00 |
|
dellaert
|
821f776118
|
Wrapper works to some extent
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2014-10-20 09:43:32 +02:00 |
|
dellaert
|
7ebc8e969f
|
Charts with default constructors
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2014-10-20 09:29:45 +02:00 |
|
dellaert
|
63ae33088e
|
Some success on the way to autodiff
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2014-10-19 23:47:59 +02:00 |
|
dellaert
|
eac76cd0f0
|
Some progress on defining interface
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2014-10-19 11:18:36 +02:00 |
|
dellaert
|
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 |
|
dellaert
|
d436d99146
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Moved stuff to Manifold.h
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2014-10-18 23:25:25 +02:00 |
|
dellaert
|
fcda501ee2
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double as manifold. No more LieScalar !
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2014-10-18 18:13:33 +02:00 |
|
dellaert
|
ed6a2b6eff
|
Charts !!!!
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2014-10-18 17:11:28 +02:00 |
|
dellaert
|
9c97b1d8a0
|
Some more refactoring
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2014-10-18 16:45:04 +02:00 |
|
dellaert
|
66b3081603
|
localCoordinates and retract
|
2014-10-18 15:02:22 +02:00 |
|
dellaert
|
10cfd47404
|
TangentVector meta-function
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2014-10-18 14:29:40 +02:00 |
|
dellaert
|
ec69949f43
|
Point2 specialized
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2014-10-18 14:22:01 +02:00 |
|
dellaert
|
f08dc6c031
|
More boost-style traits
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2014-10-18 14:16:24 +02:00 |
|
dellaert
|
4c33444415
|
Snavely tested
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2014-10-18 13:16:44 +02:00 |
|
dellaert
|
bdf12b14b9
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Add Snavely cost function
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2014-10-18 12:35:02 +02:00 |
|
dellaert
|
7018afdd58
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Slight refactor of numerical derivatives
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2014-10-18 12:34:05 +02:00 |
|
dellaert
|
2972671064
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Use boost::bind to avoid code duplication
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2014-10-18 12:29:14 +02:00 |
|
dellaert
|
db037c96c5
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Implemented manifold_traits to allow numerical derivatives wrpt Matrix arguments
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2014-10-18 12:12:25 +02:00 |
|
dellaert
|
2cbba15573
|
ceres style functor
|
2014-10-18 00:29:18 +02:00 |
|
dellaert
|
02d25f6658
|
New tests on traceSize
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2014-10-16 15:07:05 +02:00 |
|
dellaert
|
0bcca2c386
|
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 |