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
...
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.
...
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
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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
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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
4b541e1f62
Unit tests now compile with new NonlinearOptimizer
2012-05-14 21:07:56 +00:00
88f5e3d9b6
Merge remote-tracking branch 'svn/trunk' into NLO
...
Conflicts:
examples/Pose2SLAMExample_advanced.cpp
2012-05-14 18:35:15 +00:00
cb017fee80
tested and documented ability to swap factors with ISAM2
2012-05-01 18:54:44 +00:00
9ba94e4d3c
Changes in build scripts for more easily creating executables in projects
2012-04-24 14:01:42 +00:00
2ac1473a84
Fixed iSAM2 deep copy of empty tree
2012-04-09 03:02:11 +00:00
45f2101f48
Fixed deep copy in iSAM2 and added unit test to reproduce problem
2012-04-06 18:56:07 +00:00
89e05a6875
Updating unit tests and SLAM namespaces
2012-04-05 02:45:50 +00:00
ee532f2b1f
Included the inline header at the end of the standard header
2012-04-02 20:17:15 +00:00
46a1fb1103
Merge remote-tracking branch 'svn/trunk' into NLO
...
Conflicts:
.cproject
2012-03-31 01:02:45 +00:00
b67707542d
Updated CMakeLists to use newer cmake scripts
2012-03-29 18:57:31 +00:00
ba8fb0ba27
iSAM2 factorization parameter to choose LDL or QR
2012-03-27 23:30:19 +00:00
3baba11815
Fine-grained ordering constraints in iSAM2
2012-03-24 16:52:55 +00:00
829bb1f8aa
Added 'optimized' shortcut function to optimize and return Values directly
2012-03-23 22:43:59 +00:00
cdd89a43f5
DoglegOptimizer unit tests
2012-03-23 03:43:28 +00:00
b8ad7b2a0c
Fixed bugs, all unit tests pass
2012-03-22 18:02:25 +00:00
be386ed6bd
All unit tests compile
2012-03-22 17:46:43 +00:00
da70164987
Merge remote-tracking branch 'svn/trunk' into NLO
...
Conflicts:
gtsam/nonlinear/NonlinearOptimization.h
2012-03-22 17:46:33 +00:00
670117cfe7
Compiles and passes unit tests
2012-03-19 14:32:37 +00:00
047dda05d7
Removed ISAM2 templating
2012-03-17 23:57:42 +00:00
e3016baf1b
Consistent 'optimize', 'optimizeInPlace', 'optimizeGradientSearch', and 'optimizeGradientSearchInPlace' functions for GBN, GBT, and ISAM2. Reorganized some existing ones and added some new ones to do this.
2012-03-16 16:16:27 +00:00
92bd4e280d
Consistent 'optimize', 'optimizeInPlace', 'optimizeGradientSearch', and 'optimizeGradientSearchInPlace' functions for GBN, GBT, and ISAM2. Reorganized some existing ones and added some new ones to do this.
2012-03-16 16:16:13 +00:00
b76cf5b07f
Made unit test names unique between subdirectories and 'tests' directory, removed subdir prefix from compiled executable names. The duplicate filenames confused Eclipse and made things difficult in CMake as well.
2012-03-15 02:10:37 +00:00
1c63d72785
Cleanup in linear solving:
...
- No longer need to fill solution vector with rhs
- Removed rhs functions
- Combined/removed redundant optimize functions for GaussianConditional, GaussianBayesNet, and GaussianBayesTree
- Renamed some to optimizeInPlace and optimizeWildfire
- Moved BayesTree optimize functions from GaussianISAM(2) to GaussianBayesTree.
2012-03-13 19:41:03 +00:00
6b5a385b7e
Added conversion to base BayesNet from derived (includes Symbolic from Gaussian)
2012-03-12 01:25:55 +00:00
0d216c8878
Only do ISAM2 back-substitution when needed instead of during every update
2012-03-11 22:10:51 +00:00
79b4b74930
Revived generic eliminate and eliminateOne functions for partial elimination
2012-03-03 20:23:03 +00:00
ced0569b6d
Fix index out-of-bounds bug in Kalman Filter test.
2012-03-02 17:13:07 +00:00
3a1175323c
Fixing compilation errors
2012-03-01 16:07:23 +00:00
9312b0a128
Updating unit tests for new NonlinearOptimizer
2012-02-28 20:55:50 +00:00
e7e64e945b
GaussNewtonOptimizer, started LevenbergMarquardtOptimizer
2012-02-27 01:18:36 +00:00
8517f852fd
Removed unnecessary files, cmake flags
2012-02-24 15:47:23 +00:00
736a3ae1a9
Removed unnecessary linking cmake option
2012-02-23 19:15:26 +00:00
1d0aaacbd6
Removed use of GTSAM_MAGIC_KEY for constructing Symbols from strings
2012-02-22 23:38:09 +00:00
cebd4631d2
Added missing argument that was causing method hiding
2012-02-21 22:18:37 +00:00
a3797e3cdb
Int keys with formatter objects, all unit tests pass
2012-02-21 00:53:35 +00:00
0a81c4e57a
Renamed NonlinearFactor[1-6] to NoiseModelFactor[1-6]
2012-02-20 21:52:47 +00:00
0592b71ac4
Switched Values, Ordering, and factors to int 'Key' instead of 'Symbol',
...
still more code changes required to compile
2012-02-19 01:02:07 +00:00
6f09998e10
Removed autotools from gtsam2 branch
2012-02-13 21:13:07 +00:00
75428b13fe
Revert "Using FastVector instead of vector in most code called during elimination and solving"
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This reverts commit 566631cb42249cb710ef01d07d583e563afccea9.
2012-02-13 20:27:54 +00:00
051c832737
Fixed compile errors with gcc
2012-02-13 19:09:00 +00:00
d0e9b1d51a
Fixed cmake build problem to allow for excluding test files, switched testPose3SLAM to use a different interface to values
2012-02-11 22:38:53 +00:00
263b50d85a
Using FastVector instead of vector in most code called during elimination and solving
2012-02-10 15:56:01 +00:00
0d2a9018e3
Merged sub-branch into 2.0_prep branch
2012-02-08 22:05:24 +00:00
669c7c8dc8
Split up serialization unit tests into subdirectories to speed up
2012-02-08 21:53:02 +00:00
3d40f5e6fc
All unit tests pass with TypedSymbol removed
2012-02-07 04:58:11 +00:00
2f7f535f34
All unit tests pass with nonlinear factors templated on value instead of key
2012-02-07 04:02:20 +00:00
6f4c95a65b
apply bug fixes in MATLAB wrapper shared_ptr return from trunk. All tests work now.
2012-02-06 03:29:14 +00:00
811be62ed3
Working on templating factors on Value type instead of key type
2012-02-06 00:44:25 +00:00
f4515d7b30
put back Value in slam sub-namespaces for the wrapper to interface with MATLAB. Cannot solve the return shared_ptr problem in NonlinearOptimizationParameters::newDecreaseThresholds
2012-02-05 22:34:35 +00:00
563e8fe77c
correct PinholeCamera serialization problem. Add detailed comments for serialization in Value.h
2012-02-03 21:34:07 +00:00
3d9e818d1e
(2.0_prep branch) Merged in additional changes from virtual_values branch r8901-r8902
2012-02-03 17:20:23 +00:00
820b33bd55
(2.0_prep branch) Merged in virtual_values branch
2012-02-03 17:18:32 +00:00
26cdf28421
Renamed DynamicValues to Values and removed specialized derived Values classes
2012-02-02 16:16:46 +00:00
28f2276cc4
Added flag to link against local convenience libraries for tests
2012-01-31 19:59:19 +00:00
c43a9b4852
Added a variety of options to the cmake build, working on automating wrap execution/install
2012-01-31 19:59:15 +00:00
6c87006b6a
Forced testSerialization to always get run to avoid serialization breaking whenever the library changes
2012-01-31 19:59:11 +00:00
910beebb8f
Added wrap to build, assorted cleanup
2012-01-31 05:28:03 +00:00
03b4743e7a
Removed unnecessary cpp file in vSLAMexample, added CMake support for examples, used static linking to the real gtsam for tests
2012-01-31 05:28:02 +00:00
e45514e858
added tests folder to cmake build, fixed testSerialization due to namespace changes, set up linking with boost
2012-01-31 05:28:00 +00:00
4c54d05da9
Fixed index bug in ExtendedKalmanFilter unit test
2012-01-30 23:37:47 +00:00
537a1a3fae
Matlab wrapped classes now live within the gtsam namespace, meaning you have to use gtsamPose2 instead of just Pose2 in Matlab. This fixes the Point2 and Point3 issues we had with Matlab 2011b.
...
promote pose2SLAM planarSLAM etc. namespaces to be next to gtsam instead of within
2012-01-30 22:00:13 +00:00
51dca5b2d0
(in branch) Fixed Value base class assignment operator, ISAM2 expmap function, and unit tests
2012-01-30 21:23:02 +00:00
f86da6f983
testProjectionFactor and testVSLAM passed. Remaining unpassed tests: GaussianISAM2, NonlinearFactorGraph (colamd failed), SPCG
2012-01-30 16:46:36 +00:00
98f2d47f58
most tests passed, except testPose2SLAMwSPCG, testGaussianISAM2, testNonlinearEquality, testNonlinearFactorGraph, testProjectionFactor, testVSLAM
2012-01-30 04:34:46 +00:00
2db224df3c
All compiled! Only SPCG and linear/SubgraphSolver are not fixed.
2012-01-29 22:10:35 +00:00
5b5bbfdfff
testSimmulated2D passes. Too many warnings in boost from clang!
2012-01-29 21:12:58 +00:00
67aa0bf63d
Fixed compile problems with NonlinearOptimizationParameters, removed redundant typedef
2012-01-29 01:24:27 +00:00
93b1619c81
updated serialization test for pinhole camera
2012-01-29 00:03:45 +00:00
63dc9399b9
refactored Pose2SLAM
2012-01-28 02:31:44 +00:00
ba34a43b1c
wrapped new KF style and fixed test
2012-01-27 22:20:43 +00:00
b3df8d336a
For ASPN release, added temporary ENABLE_SPCG flag to avoid conflict with boost::variant
2012-01-27 16:43:31 +00:00
852bb149ce
documentation
2012-01-22 06:28:11 +00:00
e0e3875ff9
Values and TupleValues throw error if attempting to insert the same key twice, also improved error handling with specific exception types.
2012-01-06 18:58:20 +00:00
2572265096
Added noisemodel syntactic sugar so that matlab interface examples and tests work
2012-01-04 16:18:38 +00:00
94049675a4
pacified warnings
2012-01-03 19:20:42 +00:00
18a1a98859
Ability to manually constrain specified variables to end of ordering in iSAM2
2012-01-03 19:14:00 +00:00
6c6409b81a
Ability to remove factors from iSAM2
2012-01-03 17:50:48 +00:00
b9bd2e61d8
Simplified Rot3 by having only one implementation available at a time
2012-01-02 20:24:23 +00:00
fa4af2e211
Merged Rot3M.h and Rot3Q.h into Rot3.h, which now defines both Rot3M and Rot3Q.
2012-01-02 02:24:29 +00:00
927217ba4b
Cleanup from FactorGraph-inl.h
2011-12-21 16:59:37 +00:00
7c87a4f58d
Included the inline header at the bottom of SubgraphSolver, NonlinearFactorGraph, NonlinearOptimization, and NonlinearOptimizer. This avoids having to include the '-inl.h' in subsequent projects.
2011-12-20 23:25:43 +00:00
64c0606f21
Merged incremental dogleg, updated ASPNtests and GeneralFlow projects for new ISAM2Params. Refactoring of BayesTree. Added many, but not all, #includes of -inl.h files at bottom of .h files, and removing includes of -inl.h files from .cpp files and other -inl.h files.
2011-12-15 20:14:21 +00:00
17bf0f0169
Added static and shared versions of gtsam
2011-12-15 16:17:58 +00:00
2fff75562f
(in branch) Merged from trunk r8058-r8097
2011-12-15 15:53:05 +00:00
21140ea0d5
(in branch) incremental dogleg bug fix and unit test (wasn't computing Gauss-Newton point)
2011-12-15 15:37:52 +00:00
f3de9e425f
(in branch) first pass at Dogleg in ISAM2, bug(s) remaining
2011-12-15 00:08:57 +00:00
5dd461c5b1
Added make check equivalent
2011-12-14 02:24:23 +00:00
61d05813ff
Library now builds and all tests run with cmake
2011-12-14 02:24:21 +00:00
dace9e213c
(in branch) Start of unit test for incremental gradient calculation
2011-12-13 22:54:11 +00:00
88c3e81a7d
(in branch) bug fix and unit test in permutation bug introduced during BayesTree Clique refactoring
2011-12-13 18:46:31 +00:00
8d5facb09e
(in branch) make check passes after refactoring and code changes for including -inl.h files from .h files
2011-12-12 23:19:31 +00:00
3b139cbae2
(in branch) Merged from trunk r7960-r8057
2011-12-12 16:03:52 +00:00
e036dd460e
support cloning (deep copy) for ISAM2
2011-12-06 16:21:57 +00:00
ec4cfdf065
Added a test runner script for matlab unit tests
2011-12-01 01:59:39 +00:00
a0abe68b64
(in branch) Merged from trunk r7760-r7959
2011-11-29 17:02:02 +00:00
8bc83d4219
Changed -inl.h use with Values and TupleValues, removed instantiation macros for Values and TupleValues
2011-11-17 22:44:46 +00:00
96f77466c6
Removed need to include -inl.h for isam variants
2011-11-17 21:20:04 +00:00
ba22799b67
Removed unnecessary includes
2011-11-17 18:45:41 +00:00
e6a43d6330
(in branch) Dogleg in ISAM2 in progress
2011-11-12 21:19:46 +00:00
bdc2d8f996
Fixed switching to QR for constrained graphs
2011-11-10 19:44:03 +00:00
0fe13ae3ca
Fixed noisemodel compile error, moved remaining nonlinear constraints to NonlinearEquality
2011-11-10 02:05:03 +00:00
98410ca5c9
Merge branch 'unified_constraints'
...
Conflicts:
gtsam/linear/NoiseModel.cpp
gtsam/linear/NoiseModel.h
gtsam/linear/tests/testNoiseModel.cpp
2011-11-09 22:15:40 +00:00
716c5175ab
Quaternion implementation of Rot3, made default with GTSAM_DEFAULT_QUATERNIONS
2011-11-09 01:40:20 +00:00
3cd3a06eb7
Unit test bug fix - wasn't a rotation matrix
2011-11-09 01:39:18 +00:00
d340e556b5
Fixes due to bad merge
2011-11-07 21:16:26 +00:00
8592e6b2c6
Renamed LieValues, changed Lie interface
2011-11-07 20:23:20 +00:00
42a3963c7e
Merge branch 'master' into retraction_name
2011-11-06 19:40:48 +00:00
5798868ab7
Changed LieValues->Values. Did not change Values typedefs in slam domains, just adjusted namespaces
2011-11-06 19:08:42 +00:00
26dd292872
Enabled DogLeg unit test and made DogLeg verbose printing controlled by a flag
2011-11-06 18:26:47 +00:00
4284f07a61
Updates to dogleg to work with newer Lie/Manifold/Group interface
2011-11-05 23:01:50 +00:00
1ec7d7e86e
Merge branch 'master' into retraction_name
2011-11-05 23:01:48 +00:00
2b9a3db085
Added Group concept, reworked naming and conventions to reduce unnecessary functions
2011-11-05 23:01:43 +00:00
53dfa5dbb9
Merging Dogleg into trunk
2011-11-05 21:29:02 +00:00
97a82add25
make check for entire library now works
2011-11-04 21:44:34 +00:00
28415ee219
Added EQUALITY for MATLAB tests
2011-11-04 00:27:43 +00:00
cbd6446bd7
Wrapped KalmanFilter and tested it in MATLAB
2011-11-04 00:27:02 +00:00
5408ab0a2d
Made GaussianFactorGraph::sparse and sparseJacobian functions take no arguments, and instead compute column indices internally
2011-10-29 23:12:58 +00:00
eb8fb31b2a
VectorValues documentation and interface cleanup, additional unit tests and bug fix.
2011-10-29 18:53:08 +00:00
65616dbde5
Matrix version of sparseJacobian for MATLAB wrapping, unit-tested in linear now
2011-10-29 04:01:03 +00:00
c120ee93f6
Added unit tests for higher-ary NonlinearFactors
2011-10-26 02:07:35 +00:00
2c53df3ee7
Simplified VectorValues interface and implementation, slight simplification to Permuted<>
2011-10-26 02:04:06 +00:00
7c55724ddd
Doxygen
2011-10-22 19:57:36 +00:00
5016ca4f25
Added determinant function to GaussianBayesNet and added a unit test
2011-10-21 21:45:40 +00:00
8535b13809
Made error a method again: all checks, let me know if project throw errors
2011-10-21 05:36:30 +00:00
ce5751e454
Moved test here from gtsam_experimental, as now works
2011-10-21 05:35:30 +00:00
3b5c6e8cef
Removed old Testable base class
2011-10-20 02:11:28 +00:00
56d1d6ae34
Fixed some Doxygen problems with global replace
2011-10-14 03:23:14 +00:00
af3c12a7df
Implemented N-way factor base class in NoiseModelFactor, added NonlinearFactor{3-6}, adapted NonlinearFactor1,2,3 and NonlinearConstraint1,2,3 to derive from NoiseModelFactor in a minimal way
2011-10-03 04:24:24 +00:00
63ca74e492
Fixed bug in multifrontal marginals caused by backwards permutations with LDL (seems to be an inconsistency in Eigen?). Added GaussianConditional constructor from any number of frontal and parent variables. Added several new unit tests on marginals. Fixed small bug in GaussianConditional non-const get_d_ and get_R_ functions that didn't account for multiple frontal variables.
2011-09-23 02:50:46 +00:00
222d5073b9
Relocated unit test
2011-09-23 02:48:34 +00:00
4569bb41a3
Fixed serialization of stereo cameras
2011-09-12 15:30:31 +00:00
936ee6d9fd
ISAM2 refactoring and documentation
2011-09-07 15:42:49 +00:00
b614f6bf42
header order
2011-09-03 04:47:43 +00:00
04e41f8c38
Split off NoiseModelFactor (a NonlinearFactor with a NoiseModel) from NonlinearFactor (a Factor with dim, linearize, and symbolic methods). NonlinearConstraint derives from NoiseModelFactor.
2011-09-03 03:46:19 +00:00
0c34b57b92
removed spurious typename
2011-09-02 13:53:36 +00:00
06fd0335cc
ISAM2 parameters struct instead of function arguments and hard-coded values, also documentation improvement and refactored IndicesFromFactors
2011-09-01 21:53:57 +00:00
b1c1b45aba
Renamed Key and Values to have a common name between linear and nonlinear examples
2011-08-30 19:54:50 +00:00
059de23b6e
Moved ISAM2 from inference to nonlinear
2011-08-30 17:15:50 +00:00
f45b1556ca
typedef typename ... doesn't compile for me. Removing typename makes it work.
2011-08-29 19:22:11 +00:00
27d062a0f0
Fixed compile errors due to new SharedGaussian definition
2011-08-27 13:50:35 +00:00
82fdb0a5f8
Added ExtendedKalmanFilter class and easyPoint2KalmanFilter example
2011-08-27 12:28:47 +00:00
fd07d61a2e
Add a robust noise model. Change SharedGaussian to SharedNoiseModel
2011-08-26 21:41:01 +00:00
d329d06b77
(in branch) moved ISAM2 into main gtsam library
2011-08-18 18:06:35 +00:00
964af8b21c
Commented use of GTSAM_MAGIC_KEY
2011-08-18 13:18:26 +00:00
778001f63e
assorted cleanup - mostly comments and adding implementations to cpp files, rather than in header files
2011-06-13 20:01:58 +00:00
322f61c537
added flags for dataset timing tests to change the number of trials
2011-06-13 17:14:24 +00:00
fa4faa274a
Merge branch 'prep_0.9.3'
2011-06-13 16:55:31 +00:00
36f9ebae90
Removed files full of broken code, removed simulated2D matlab files, condensed slam unit tests, added the only known test for SPCG in gtsam
2011-06-04 20:42:29 +00:00
c4d9208eeb
Added serialization for most linear/inference structures, simulated2D - serialization, except for example domains, should be complete
2011-06-04 16:52:54 +00:00
265b057580
Removed key sorting from NonlinearFactor
2011-06-04 14:54:27 +00:00
c44315fec8
Added more serialization - geometry is done, jacobian and hessian factors done, visual system done. Split projection factor out from visual SLAM into separate header
2011-06-03 21:32:27 +00:00
9160775d2a
Added nonlinear constraints to gtsam library
2011-06-03 15:07:11 +00:00
e9b8a48c43
ccolamd now installs and works with gtsam - all tests pass
2011-06-02 14:35:26 +00:00
040493474f
added more serialization
2011-05-20 18:43:42 +00:00
e20561be73
Merge branch 'eigen'
2011-05-20 13:52:08 +00:00
d35eb581ee
Removed experimental cmake files - see the branch cmake_build
2011-05-19 19:16:03 +00:00
85ff7853eb
experimental cmake support for linux
2011-05-09 16:53:08 +00:00
5057138ef1
Returning GaussianFactor instead of JacobianFactor from NonlinearFactor::linearize and NonlinearFactorGraph::linearize, so that HessianFactors may be returned as well.
2011-04-12 21:18:10 +00:00
f5eac05add
Merged factorization branch - sequential and multifrontal factorization with a function argument to specify the elimination method
2011-03-29 21:32:22 +00:00
07820af903
Fixed crashes when doing linearize/solve on nonlinear factor graphs with NULL factors
2011-03-29 19:51:50 +00:00
5c193422af
Major change, elimination functions are now passed an "Eliminate function", so you can select at run-time which factorization method is used (symbolic, QR, etc...).
2011-03-24 19:27:12 +00:00
726bed11b8
Removed exports for SharedGaussian and SharedDiagonal and moved them to testSerialization
2011-03-08 19:19:21 +00:00
fc3b668171
Removed boost.serialization export keys from noisemodel because they don't work outside of one test
2011-03-08 18:13:49 +00:00
1c1e47ca1f
Added serialization export keys directly to NoiseModel
2011-03-04 14:56:18 +00:00
a87a52035d
Serialization for (some) nonlinear factors now works, added virtual destructors to factor classes that needed them.
2011-03-03 17:16:13 +00:00
cee6b4523e
Improved serialization for noisemodel and NonlinearFactors, however currently fails on NonlinearFactorGraphs and some factors
2011-02-23 20:31:19 +00:00
4865f1a64d
Added more serialization functionality to noiseModel, but SharedGaussians segfault on test, so tests for Nonlinear graphs are commented out
2011-02-23 05:19:07 +00:00
1c27b1021f
Removed incorrect dynamic_pointer_cast that caused a compile error for non-virtual derived factors.
2011-02-18 22:10:21 +00:00
d8f05f78ff
Added marginal function to GaussianISAM, renamed and added comments to bayes tree
2011-02-11 22:08:07 +00:00
7407843214
Reworked nonlinear optimizer so that it only uses a solver member variable if you are using spcg. SPCG may be broken at this point, and its member variable will be removed soon.
2011-02-10 16:01:29 +00:00
06b08c6f85
Fixed bug with shared solvers in recursive LM nonlinear optimizer
2011-02-10 16:01:28 +00:00
719e851643
Added a functional version of LM optimization for comparison
2011-02-06 04:13:32 +00:00
251d83b41a
Disabled unit test for serialization of Values, as FastMap does not have serialization
2011-02-04 05:45:42 +00:00
37ee4f6cb3
Added a test for Ordering, added pop_back() to ordering, made changing the ordering in NonlinearISAM possible
2011-02-02 03:50:06 +00:00
e4cda1b360
Added accessor for NonlinearISAM, comments and whitespace
2011-01-29 00:53:15 +00:00
4880257e69
Merging hessianfactor branch, Cholesky is now default and GaussianFactor is virtual (see email to frankcvs)
2011-01-20 22:22:00 +00:00
4367a245bd
Added unit test for NonlinearISAM with a simple markov chain demo
2011-01-20 15:42:11 +00:00
880040a6f6
Added extra link libraries to examples and global tests required when building a static-only gtsam library
2010-12-29 03:25:52 +00:00
9edeb1102c
Fixed bug in BayesTree shortcuts and marginals. Also added an input check to Permutation::PushToBack and PullToFront that catches the bad input of duplicate variables caused by the bug.
2010-12-21 18:23:56 +00:00
a8a584d38e
Rolling back last commit (undoing merge of hessianfactor branch) - does not compile on Linux, could be compiler or boost version problems. Also will probably break Alex's stuff so will work that out before merging.
2010-12-17 01:11:28 +00:00
de1892016d
Merged in hessianfactor branch, Cholesky is now default. This merge also includes improved timing statements with automatic outlining and low overhead
2010-12-17 00:51:51 +00:00
a6fd5ff9e2
Removed unused inference-inl.h and testOrdering.cpp, added unit test for ordering with unobserved variables.
2010-12-09 01:34:20 +00:00
e726f7c7af
remove backward compatible functions in NonlinearOptimizer
2010-11-21 22:00:22 +00:00
4e0b4021df
Added prior on the first pose in time*OnDataset
2010-11-19 16:30:06 +00:00
d6929d4409
Storing variable index in solver, saved between nonlinear iterations
2010-11-15 23:01:50 +00:00
15310ed6ad
Added fix to make TupleConfig1 work
2010-11-06 17:35:47 +00:00
898ca38f1c
Removed unmatched timing statement, reduced default trials in timing scripts
2010-11-03 22:52:24 +00:00
60e10d7380
Added timeSequentialOnDataset and timeMultifrontalOnDataset, removed timeLinearOnDataset
2010-11-03 22:35:02 +00:00
448ada270a
create n-way factor, return keys from nonlinear factor graph
2010-10-30 19:27:30 +00:00
201b16dabe
Added more print statements for timing
2010-10-29 15:00:57 +00:00
3743342534
Standardized function names - marginalFactor, marginalFactorGraph, marginalCovariance
2010-10-25 22:45:45 +00:00
2c90e3d836
Moved the subdirectories that compile into libgtsam.la into a 'gtsam' subdirectory. Hopefully a good fix for the problem we had trying to make a gtsam distribution, that the source directory may not be called 'gtsam'.
2010-10-25 20:10:33 +00:00
fda11d7c15
Extra unit test to check that marginals from sequential and multifrontal are the same
2010-10-22 22:53:33 +00:00
8ff5bf5c7c
Bug fix in BayesTree marginal, re-enabled joint and unit tests
2010-10-22 22:11:23 +00:00
69c6d05ce1
config() changed to values() for consistency
2010-10-22 19:29:15 +00:00
f9e0ed07a3
Code cleanup: lean and mean VariableIndex (got rid of different types for different FG's, slots, and storage template), renamed Conditional.h and Factor.h to match class names ConditionalBase and FactorBase (not ideal names but prevents conflict with typedefs), added typedef for symbolic multifrontal solver.
2010-10-22 18:02:55 +00:00
1d94dacca0
make check passes with dense qr using lapack geqrf
2010-10-22 03:51:10 +00:00
812e3277ee
New linear solver interface, global inference functions removed.
2010-10-21 22:59:54 +00:00
f15fea202e
Change that may be reverted again soon - templated factor base type on key and make IndexFactor and IndexConditional for all current code. Did this to experiment with using symbols on the linear side in an efficient way but am putting this on hold for now because of complications. Will revisit and either fix or revert to int-only later in the week. Also moved some files to experimental and templating EliminationTree on FACTOR instead of FACTORGRAPH.
2010-10-19 21:31:13 +00:00
4071d4f673
small change to make boost work properly
2010-10-18 21:44:38 +00:00
Duy-Nguyen Ta
Stephen Williams
Alex Cunningham
Yong-Dian Jian
Richard Roberts
Frank Dellaert
bpeasle
Chris Beall
Manohar Paluri
Kai Ni