d7767188b3
Merged from branch 'trunk'
2013-07-01 13:11:15 +00:00
77a1e9a485
Added ISAM2::marginalCovariance function.
2013-06-29 02:19:03 +00:00
123657e3d0
Merged from branch 'trunk'
2013-06-24 15:28:16 +00:00
14a71aeedc
Put header-implemented unit test functions in anonymous namespaces to avoid duplicate symbols in SINGLE_TEST_EXE mode
2013-06-20 16:05:24 +00:00
8f4688fd5b
Compiling serialization unit tests with /bigobj on windows
2013-06-20 16:05:21 +00:00
400e20420c
Adding headers to list of sources in top-level unit tests so that they show up in visual studio
2013-06-20 16:05:20 +00:00
8f9d5ec2e2
Merge branch 'trunk'
2013-06-17 21:15:57 +00:00
19f7da62dd
Refactored existing serialization functionality, added exposed interface for serialization
2013-06-12 19:30:20 +00:00
2196953188
Removed reference to nonexistant test_lib
2013-06-11 20:26:34 +00:00
0c7182b713
Removed unnecessary using statements
2013-06-11 14:36:50 +00:00
37f936d41c
Cleanup, whitespace
2013-06-11 14:36:50 +00:00
7b79cfc38c
Removed all non-test/timing cpp files from tests folder, small example now is header-only
2013-06-11 14:35:22 +00:00
d5e721a1d0
Continued work on unordered classes and elimination algorithm
2013-06-06 15:36:11 +00:00
9c61d15fb1
Caught corner case in summarization causing ccolamd to segfault
2013-05-23 18:12:00 +00:00
d05560687b
Avoid segfault on linking
2013-05-20 22:23:04 +00:00
07c4c95f18
Added serialization unit tests for binary files
2013-05-08 13:23:46 +00:00
4e0dbbc2b1
Added tests for each summarization mode
2013-05-08 10:14:19 +00:00
c74de0136c
Changed interface to allow for different modes
2013-05-08 10:14:10 +00:00
acd6e629e8
Moved older functions back to gtsam_unstable, cleanup. All tests pass. Rearranged summarization wrap interfaces.
2013-05-08 10:13:57 +00:00
81f63bcc0e
Rearranging summarization, now with unit test in gtsam
2013-05-08 10:11:45 +00:00
547323cc79
Fixed a bunch of compiler warnings
2013-04-05 21:34:04 +00:00
f773a34834
Renamed experimentalMarginalizeLeaves to marginalizeLeaves and added comment
2013-03-26 20:46:08 +00:00
e2aca2039e
Further fix in iSAM2 marginalization
2013-03-20 13:48:16 +00:00
596c5cdae8
Revamped ISAM2::marginalizeLeaves again, more tree algorithm instead of relying on sorted keys, hopefully correct this time.
2013-03-18 19:28:02 +00:00
6111c099ab
Improved build of shared vs static GTSAM libraries - now possible to build either one or both, executables link to the shared if it is being build, or otherwise to the static. Also removed separate shared/static CMake flags for gtsam_unstable, now uses the same GTSAM_BUILD_SHARED and GTSAM_BUILD_STATIC as gtsam.
2013-03-13 18:17:39 +00:00
72db4793c5
Fixed bugs in iSAM2 leaf marginalization found in HMF testing - set of factors to remove, adding new leaf clique from remaining variables. Also relies on bug fix in BayesTree::removeClique a couple of commits ago.
2013-03-05 05:47:27 +00:00
cd300bfeff
First pass at marginalization of leaves in iSAM2 - passes unit tests but needs to be tested on real data
2013-02-24 19:09:54 +00:00
7aa45115a1
Replaced depreciated boost::shared_dynamic_cast with boost::dynamic_pointer_cast to work with boost 1.53
2013-02-11 20:24:53 +00:00
6eafc9420e
update namespace mEstimator for unittests
2013-02-08 00:47:52 +00:00
013705232c
Maintain reverse-lookup inside of Ordering, to allow fast partial permutations, and modified iSAM2 to use partial permutations on Ordering. Removed InvertedOrdering and updated other GTSAM code and unit tests to use the Ordering reverse-lookup function "key" instead of calculating and inverse ordering.
2013-01-08 23:31:06 +00:00
c42bccbb3e
Increased chain length in timeiSAM2Chain
2012-12-18 14:21:49 +00:00
4e7393cc08
Added timing test for a long chain in iSAM2
2012-12-18 14:21:12 +00:00
7309aa0ffa
Unit tests pass with piecewise VectorValues implementation (for fast permutations)
2012-12-18 14:21:02 +00:00
bd285fbb52
Merge remote-tracking branch 'svn/trunk' into isam2-chain-optimization
...
Conflicts:
gtsam/linear/HessianFactor.cpp
gtsam/linear/VectorValues.cpp
2012-12-18 14:20:31 +00:00
5b9271cb97
VV work
2012-11-23 23:22:53 +00:00
aba48e4492
Commented out serialization in timeIncremental
2012-11-14 00:55:31 +00:00
0c3761a2a9
Reverted r14178, r14179, r14195, r14196 (isam2 chain optimizations) to move them to a branch
2012-11-11 20:51:03 +00:00
43778a6ed3
--update the distance() of robust noise model
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--add a nonlinear optimization unit test using robust noise model
2012-11-06 22:42:01 +00:00
43f08ce806
Increased chain length in timeiSAM2Chain
2012-11-05 01:04:16 +00:00
10f69cfca0
Added timing test for a long chain in iSAM2
2012-11-02 22:07:30 +00:00
46c1d0c512
Added joint marginal timing to timeIncremental script
2012-10-31 22:27:36 +00:00
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
279738c56f
Renamed unit tests to match file name
2012-10-28 06:21:17 +00:00
920bb52453
Moved eliminate and eliminateOne from inference to FactorGraph
2012-10-22 17:49:41 +00:00
656080ad2f
Fixed warning
2012-10-08 23:58:57 +00:00
3218a7bca4
Added missing main function
2012-10-08 23:03:02 +00:00
9793f8b7f7
Finalized batch and incremental timing scripts
2012-10-08 22:40:47 +00:00
f3a2887af1
Moved GaussianBayesTree tests into their own file, out of testGaussianISAM
2012-10-08 22:40:40 +00:00
b60189104c
Added checks for proper noise model dimension
2012-10-05 23:23:40 +00:00
054c326e3c
Added tests related to determining why non-unit sigmas were occurring in bayes tree - solution: Vector_() is dangerous
2012-10-04 20:23:45 +00:00
89b50e7679
Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
2012-10-02 20:18:41 +00:00
c44f8f7f80
Fixed examples from timing statement change (missed)
2012-10-02 18:49:48 +00:00
4876cc7ff7
Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list)
2012-10-02 18:36:39 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
96ce28625b
Timing marginals in timeIncremental
2012-10-01 16:12:43 +00:00
784e9f5755
Added overall timing scripts for batch and incremental (ISAM2) solving
2012-09-28 17:48:49 +00:00
aeb43bc8fc
Used technique described in http://gcc.gnu.org/onlinedocs/gcc/Diagnostic-Pragmas.html to turn off excessive warnings generated by boost lambda headers
2012-09-16 18:07:50 +00:00
89cd600165
avoid warnings
2012-09-16 17:54:43 +00:00
7266293a61
Cleaned up some remaining JacobinaFactorGraph remnants
2012-09-05 03:52:01 +00:00
c4c5dec9a3
Fixed testIterative unit tests
2012-09-05 03:06:22 +00:00
b0508cc1a8
Removed JacobianFactorGraph - moved its linear algebra interface to GaussianFactorGraph and redirected all uses of it to GaussianFactorGraph
2012-09-04 22:42:09 +00:00
c55f4be0d1
Comments added
2012-09-04 22:20:40 +00:00
73f8c0830b
Created new dense matrix functions in GaussianFactorGraph returning pair<Matrix,Vector> for easier access, and renamed functions to augmentedJacobian, augmentedHessian, jacobian, hessian
2012-09-04 15:05:57 +00:00
abd07e553e
Made new global functions in unit tests static to avoid duplicate symbols
2012-09-04 15:05:55 +00:00
af652b0e04
remove simpleSPCG
...
reorg SubgraphSolver
add unit test for SubgraphSolver
2012-09-03 19:43:08 +00:00
9497a233ce
Cleaned up all remaining commented-out unit tests from the old linear rewrite - removed or reenabled as needed.
2012-09-03 18:36:05 +00:00
35d188e36d
Moved testIterative.cpp back to GTSAM, made the first test compile/run
2012-09-03 18:01:24 +00:00
b6150bd27e
Removed deprecated unit tests from testGaussianFactorGraphB and moved SPCG-specific ones to testGraph and testJacobianFactorGraph
2012-09-03 18:00:26 +00:00
ab7594e8f0
Made SPCG unit tests compile again, needed several fixes in iterative.h
2012-09-03 00:06:13 +00:00
3e93c488e5
Removed extra code that was sometimes maintaining a staircase pattern in JacobianFactor by sorting rows - a holdover from the staircase optimization that is no longer done now that we are using Eigen's QR
2012-08-27 22:29:56 +00:00
af48d086ed
Fixed missing renames
2012-07-27 19:15:58 +00:00
5177f31a5d
Merge remote-tracking branch 'svn/trunk' into remove_slam_namespaces
...
Conflicts:
gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
matlab/examples/Pose2SLAMExample_circle.m
matlab/examples/Pose2SLAMExample_graph.m
matlab/examples/StereoVOExample_large.m
tests/testGradientDescentOptimizer.cpp
2012-07-27 19:01:43 +00:00
7fc6a622bf
Added additional factors to the serialization unit test
2012-07-25 22:13:22 +00:00
168ddf5457
add Cal3DS2.calibrate() with fixed point iteration
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reorg nonlinear conjugate gradient solvers
wrapper for the linear solvers
2012-07-24 21:06:33 +00:00
592fa95d66
Fixed serialization for LieVector and LieMatrix
2012-07-24 14:50:01 +00:00
c2daf40c5d
Removed SLAM namespaces from testSerializationSLAM. Instead of testing each SLAM namespace individually, a single test was created that instanciates all variable-factor combinations. However, there is currently an issue with LieVector that should be resolved.
2012-07-23 22:50:21 +00:00
01bcd9e939
Removed SLAM namespace from testNonlinearOptimizer
2012-07-23 22:47:31 +00:00
7a0030070c
Removed SLAM namespace from testNonlinearISAM
2012-07-23 22:46:55 +00:00
c8f3356af5
Removed SLAM namespace from testNonlinearEquality
2012-07-23 22:46:21 +00:00
0e6762e5c9
Removed SLAM namespace from testInferenceB
2012-07-23 22:45:46 +00:00
2de44904ad
Removed SLAM namespace from testGraph
2012-07-23 22:45:07 +00:00
a641f599f6
Removed SLAM namespace from testGradientDescentOptimizer
2012-07-23 22:44:02 +00:00
fb33b8a609
removed SLAM namespace from testGaussianJunctionTreeB
2012-07-23 22:43:17 +00:00
0863b4148d
Removed SLAM namespace from testGaussianISAM2
2012-07-23 22:42:42 +00:00
f56d9c18e5
Removed SLAM namespace from testDoglegOptimizer
2012-07-23 22:41:53 +00:00
c32d1c7e02
Fixed dimensions bug in Marginals and added unit test
2012-07-23 19:29:52 +00:00
d397139fa9
Fixed dimensions bug in Marginals and added unit test
2012-07-23 19:20:53 +00:00
6266a2c56d
Removed SimpleString from CppUnitLite - now just uses std::string and boost::lexical_cast
2012-07-18 15:43:54 +00:00
af52b6811f
Fixing small warnings
2012-07-10 18:35:57 +00:00
96fc5991db
Automatic removal of unused variables in iSAM2 working in unit tests!
2012-06-30 22:32:49 +00:00
86f19362ab
Return FastSet instead of std::set from NonlinearFactorGraph::keys()
2012-06-30 22:32:46 +00:00
f06c7ad2e9
Lots of code de-duplication and cleanup in testGaussianISAM2
2012-06-30 22:32:42 +00:00
abd6795f5b
In progress removing variables from iSAM2
2012-06-30 19:17:54 +00:00
57ca7d77db
Removed Permuted views to simplify a lot of code - all objects that need to be permuted now have their data rearranged instead of using the "Permuted" indirection class.
2012-06-30 01:45:21 +00:00
c443ccbedd
More adding of static to avoid naming conflicts in unit tests
2012-06-30 01:44:00 +00:00
c7ff913f64
Added yet another configuration parameter to iSAM2. 'enablePartialRelinearizationCheck' checks variables for relinearization by descending the Bayes tree. Once a variable does not need to be relinearized, we stop checking that branch. A full check is still the default.
2012-06-28 20:46:53 +00:00
4e2aae0121
formatting of comments, added parent() interface for Bayes Tree cliques
2012-06-26 18:49:30 +00:00
1bf3ae51a9
Fixed make check compile error
2012-06-24 14:49:52 +00:00
2d0ce1c3ca
Streamlining of SLAM namespaces:
...
planarSLAM Values and Graph now derive from Pose3SLAM.
visualSLAM Values and Graph now derive from pose3SLAM.
Several methods have been renamed to make them consistent through these 4 namespaces:
addPrior -> addPosePrior
addHardConstraint -> addPoseConstraint
addOdometry/addConstraint -> addRelativePose
All gtsam and matlab examples/tests run.
PS: please don't use the deprecated typedefs in these namespaces.
2012-06-24 02:48:12 +00:00
0fe2d527f9
Fixed warnings due to discrete. GTSAM now Wall-safe?
2012-06-22 21:45:36 +00:00
6f1ea87a00
clean up noise model: Remove Shared[NoiseModel] classes and headers, typedef for backward compatibility in NoiseModel.h. Fix all tests and examples to create shared noise models through static functions in noise model classes. Fix MATLAB wrapper and examples as well. Add tests for MATLAB examples
2012-06-22 19:36:49 +00:00
94a769a447
Created derived classes for SymbolicSequentialSolver and SymbolicMultifrontalSolver. This simplifies calling eliminate, mimics the Gaussian versions, and makes matlab wrapping possible.
2012-06-21 22:31:41 +00:00
8789201822
Added mechanism to create a constrained ordering directly from a NonlinearFactorGraph
2012-06-20 01:35:42 +00:00
9cb903fe08
1. remove a redundant constructor of PinholeCamera
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2. remove a "backproject_from_camera" function from PinholeCamera, please use "backproject" directly
2012-06-19 15:28:22 +00:00
d57fc32e74
To simplify FactorGraph, removed convertCastFactors and dynamicCastFactors from FactorGraph - replaced their calls with in-place code to do the needed conversions
2012-06-18 14:55:30 +00:00
cee80c1938
add a generic nonlinear cg solver
2012-06-13 01:21:10 +00:00
8687e1293c
disable error msg
2012-06-12 14:20:08 +00:00
6fd2ac7f86
move iterative.* back to stable. add a template-style nonlinear iterative solver
2012-06-12 14:19:01 +00:00
83dc580220
add a nonlinear gradient-descent optimizer, and a unit test.
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todo: 1. test wolfe condition or armijo rule, 2. use iterative.h
2012-06-11 22:10:23 +00:00
3be4be9039
Moved "bigobj" MSVC compile flag to affect testSerializationSLAM
2012-06-11 14:50:22 +00:00
80e2179a8d
Cleaned up typedefs in FactorGraph.h (and removed FactorizationResult), and also made sure ::shared_ptr was never assumed to exist for a FACTOR template argument. Should it exist, ever?
2012-06-09 21:33:10 +00:00
b602e75a99
Removed the use of the ADD_CLONE_NONLINEAR_FACTOR macro, documented instances of clone() in factors
2012-06-09 21:06:06 +00:00
3d2c3aff05
Moved all Simulated* example domains and smallExample to the tests folder so they are no longer installed
2012-06-09 20:15:44 +00:00
f45c236585
Isolated exception case for use of Symbol.key(), removed use of Symbol in several tests. Removed "using namespace xxx" in header
2012-06-09 19:17:15 +00:00
dc879fe280
Moved testSubgraphPreconditioner from experimental back to linear/tests, though most of it is commented out, mostly because of JacobianFactorGraph - GaussianFactorGraph distinction
2012-06-09 18:54:47 +00:00
54bfe722ad
Returning ordering from planarGraph is obsolete since Index change
2012-06-09 18:52:22 +00:00
d70622abe0
Rearranged matlab folders to avoid calling utility functions "examples"
2012-06-07 20:09:54 +00:00
8bfe8571bc
Removed template argument from NonlinearISAM, now just uses NonlinearFactorGraph
2012-06-07 17:45:05 +00:00
a9c36fc172
move linear algebra functions for jacobian factor graph to a new file
2012-06-07 01:24:19 +00:00
ad3b431c4d
Moved building of wrap libraries to a cmake macro and moved install for matlab components to the appropriate folder
2012-06-05 18:05:00 +00:00
bef45d5b7b
Merged from branch 'branches/windows'
2012-06-05 14:09:58 +00:00
10d6157d1d
formatting/naming only
2012-06-05 13:29:04 +00:00
6b1e862688
Fix errors
2012-06-04 18:46:05 +00:00
9c8377f476
Merge remote-tracking branch 'svn/trunk' into windows
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Conflicts:
examples/Pose2SLAMExample.cpp
examples/vSLAMexample/CMakeLists.txt
examples/vSLAMexample/vISAMexample.cpp
gtsam/nonlinear/ISAM2-impl.cpp
gtsam/slam/pose2SLAM.cpp
gtsam/slam/tests/testGeneralSFMFactor.cpp
gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
gtsam/slam/tests/testPlanarSLAM.cpp
gtsam/slam/tests/testPose2SLAM.cpp
tests/testDoglegOptimizer.cpp
tests/testGraph.cpp
2012-06-04 14:13:37 +00:00
f924d01bc3
Synchronized mixed case naming
2012-06-03 05:25:05 +00:00
8440939f27
Using symbol_shorthand instead of redundant kx, kl functions
2012-06-02 19:28:21 +00:00
a2512475c9
Symbol.h is now included just in time, no longer by default everywhere.
2012-06-02 19:05:38 +00:00
5160c2eb50
Significant API change in slam (GTSAM 2.0.1 or 2.1): to eliminate confusion and give the user more freedom in creating their own Keys, the different slam variants no longer create Symbol keys themselves. Instead, all interaction is done via Keys (which are just unordered, unsigned ints). All PoseSLAM unit tests and examples now just use sequential keys. However, a user can still create Keys using the Symbol constructor, which is illustrated in the landmark-based unit tests and examples.
2012-06-02 16:18:40 +00:00
1ca9e7049e
Merge remote-tracking branch 'svn/trunk' into windows
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Conflicts:
gtsam/linear/HessianFactor.h
gtsam/nonlinear/Marginals.cpp
2012-05-28 12:22:36 +00:00
ace4327897
reorg the nonlinear/linear parameters to accommodate the iterative solvers
2012-05-25 15:26:30 +00:00
47830cd56f
Added clone and rekey facilities to nonlinear factor graph
2012-05-24 16:05:01 +00:00
bcfe39f4ae
Merge remote-tracking branch 'svn/trunk' into windows
...
Conflicts:
gtsam/nonlinear/Marginals.h
2012-05-23 18:55:18 +00:00
c2c9c4a982
Almost everything compiles and passes in windows
2012-05-23 18:51:49 +00:00
3264bd5a39
Reverted testOccupancyGrid.cpp back so that it does not break make check.
2012-05-23 15:57:12 +00:00
c3ca8175e9
removed old SPCG test
2012-05-22 15:05:15 +00:00
18e23c20df
Added missing header
2012-05-22 12:27:34 +00:00
2bd7a0ed43
Added generic re-key function to nonlinear factor
2012-05-21 20:54:42 +00:00
54f6f3629c
Added clone() functionality to nonlinear factors
2012-05-21 20:54:40 +00:00
b66dc3586d
Small change to merge in compatibility patch
2012-05-21 19:44:25 +00:00
d4a70b66d9
Added code to run MCMC with real data.
2012-05-21 19:06:26 +00:00
ba6439dbb1
Implemented a very slow Metropolis algorithm
2012-05-18 22:09:20 +00:00
9682745b81
Added ray tracing and implemented LaserFactor::operator()(const Values &)
2012-05-18 20:12:08 +00:00
c50b972dd1
Added discrete to convenience libraries dependencies
2012-05-17 16:33:51 +00:00
d0218cf512
2012-05-16 18:09:59 +00:00
1ce95c1d89
Removed LDL in favor of Cholesky
2012-05-15 15:49:14 +00:00
68467448a7
Fixed small LM bug (solving original instead of damped system) and added unit test
2012-05-15 13:23:43 +00:00
9e0996296a
Added Cholesky/LDL switch in NonlinearOptimizer, preparing to remove
...
LDL, remove dependency of NonlinearOptimizer on linear solvers.
2012-05-15 05:08:57 +00:00
516e1610a1
Added joint marginals and unit tests
2012-05-15 00:01:38 +00:00
754e289737
Fixed errors in unit tests from updated NonlinearOptimizers
2012-05-14 22:31:42 +00:00
51d38f4b5d
Added Marginals unit test and class
2012-05-14 21:33:03 +00:00
Richard Roberts
Alex Cunningham
Frank Dellaert
Stephen Williams
Duy-Nguyen Ta
Yong-Dian Jian
Chris Beall
bpeasle