dellaert
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ff9dd8eb8d
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Removed some obsolete code
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2014-10-05 19:09:16 +02:00 |
|
dellaert
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824cb1deb1
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Merge branch 'feature/BAD_Trace' into feature/BAD
Implemented reverse AD by creating a tree-structured execution Trace, after which the Jacobains are computed in top-down fashion
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2014-10-05 19:00:17 +02:00 |
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dellaert
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caf742d5e1
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Better names
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2014-10-05 17:20:55 +02:00 |
|
dellaert
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001504a432
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JacobianTrace base, and avoid copying JacobianMaps.
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2014-10-05 17:12:38 +02:00 |
|
dellaert
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2718662467
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Removed debug printing
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2014-10-05 15:01:36 +02:00 |
|
dellaert
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fdf9c10b42
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Implemented value and now testBADFactor also runs
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2014-10-05 15:00:10 +02:00 |
|
dellaert
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8db2cd17fc
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Finished constant Trace and *everything* just works!!! Amazing :-)
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2014-10-05 13:41:20 +02:00 |
|
dellaert
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7c19542245
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Leaf Trace compiles
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2014-10-05 13:37:51 +02:00 |
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dellaert
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75445307b2
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Unary Trace done
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2014-10-05 13:33:23 +02:00 |
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dellaert
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8e527a2251
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Binary Trace compiles, runs
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2014-10-05 13:27:41 +02:00 |
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dellaert
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303d37a716
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Separate hierarchy
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2014-10-05 11:22:14 +02:00 |
|
dellaert
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6fb10a5de9
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Rename, emphasizing is forward AD
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2014-10-03 21:13:34 +02:00 |
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dellaert
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3f017bf51f
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An optimized version
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2014-10-03 14:35:39 +02:00 |
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dellaert
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c20b588fe0
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timing, is pretty bleak for Expressions
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2014-10-03 14:19:23 +02:00 |
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dellaert
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a5b92f0342
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MUCH simpler by just using boost::bind to turn methods into functions
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2014-10-03 13:18:25 +02:00 |
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dellaert
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bdf5451565
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Typedefs
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2014-10-03 12:52:35 +02:00 |
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dellaert
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c8dd361080
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Common base class BinaryExpression
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2014-10-03 12:48:28 +02:00 |
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dellaert
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987b123ec9
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NullaryMethodExpression and UnaryFunctionExpression, derived from UnaryExpression
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2014-10-03 12:40:26 +02:00 |
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dellaert
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e061143095
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norm derivatives
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2014-10-03 11:38:38 +02:00 |
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dellaert
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aefad1e548
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MAJOR refactor: I now use separate functions for value (only) and "augmented", for combined value-derivatives. The latter returns a new templated class, Augmented<T>.
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2014-10-03 10:25:02 +02:00 |
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dellaert
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da4cfe6fdc
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ternary test
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2014-10-02 23:39:17 +02:00 |
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dellaert
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59af1c4b6d
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Major refactor that does not ask for derivatives when argument is constant. Also split combine into double add, added print, and moved those two statics to ExpressionNode.
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2014-10-02 23:28:19 +02:00 |
|
dellaert
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166396d6f6
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Added tests with constant Expression
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2014-10-02 23:26:59 +02:00 |
|
dellaert
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e7e7b3806f
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New test with constant argument
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2014-10-02 20:28:37 +02:00 |
|
dellaert
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d5709facf6
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Added Pose2SLAMExample
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2014-10-02 20:20:00 +02:00 |
|
dellaert
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8f856ceaf8
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Renamed
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2014-10-02 20:19:49 +02:00 |
|
Frank Dellaert
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b4e225f1b8
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Merged in feature/catkin-compatibility (pull request #19)
Adding a minimal version of catkin compatibility
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2014-10-02 18:00:50 +02:00 |
Paul Furgale
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7ce2ec545c
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Adding a minimal version of catkin compatibility
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2014-10-02 16:51:29 +02:00 |
|
dellaert
|
df17758469
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Assume H pre-allocated as usual, and *move* Jacobians to avoid allocations
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2014-10-02 13:30:16 +02:00 |
|
dellaert
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0800b83285
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Slight efficiencies
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2014-10-02 11:44:16 +02:00 |
|
dellaert
|
bef23a2008
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ExpressionExample now only uses BADFactors and yields same result as SFMExample
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2014-10-02 11:21:24 +02:00 |
|
dellaert
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ebb091d390
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BadFactor is now a functioning NoiseModelFactor
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2014-10-02 11:01:39 +02:00 |
|
dellaert
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8a196eb86e
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A zero noiseModel_ never worked for NoiseModelFactor, regularizing this by explicit check
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2014-10-02 11:01:14 +02:00 |
|
dellaert
|
1dddb4046a
|
Comment only
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2014-10-02 09:44:29 +02:00 |
|
dellaert
|
3f5aa0f23e
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Expression version of SFMExample (in progress)
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2014-10-01 14:10:54 +02:00 |
|
dellaert
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2d76f200ce
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Fixed compile error
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2014-10-01 14:10:27 +02:00 |
|
dellaert
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c01c756d69
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Created implementation file for NonlinearFactor and moved non-templated code there
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2014-10-01 13:14:55 +02:00 |
|
dellaert
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ce53346a9e
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Added Symbol versions
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2014-10-01 13:12:07 +02:00 |
|
dellaert
|
0d94eeb480
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Created expressions.h header
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2014-10-01 11:25:49 +02:00 |
|
dellaert
|
254f8c5f75
|
Possible naming convention
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2014-10-01 11:01:38 +02:00 |
|
dellaert
|
a6c1ba19cc
|
Concise version
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2014-10-01 10:53:35 +02:00 |
|
dellaert
|
d45250a989
|
Fixed dim
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2014-10-01 10:45:57 +02:00 |
|
dellaert
|
d935172ac5
|
Tightened
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2014-10-01 10:43:03 +02:00 |
|
dellaert
|
8f6eae922a
|
Tightened/cleaned up
|
2014-10-01 10:36:24 +02:00 |
|
Paul Furgale
|
837b2a6bc0
|
Fixed the member function with very ugly syntax
|
2014-09-30 23:13:07 +02:00 |
cbeall3
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9bb6beed92
|
Fix OpenMP configuration when MKL is enabled
|
2014-09-30 16:13:15 -04:00 |
|
cbeall3
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f049c45863
|
Handle SVD sign ambiguities. Fixes issue #112
|
2014-09-30 15:27:19 -04:00 |
|
cbeall3
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4fecf8a172
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Add path for new MKL installation folder in latest parallel studio release
|
2014-09-30 13:09:13 -04:00 |
|
dellaert
|
c68c2d2dac
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Prototype code for passing methods. Does not work (uncomment line 61)
|
2014-09-30 13:19:44 +02:00 |
|
dellaert
|
ae17f8a82f
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Some refactoring, new static method "combine"
|
2014-09-30 13:00:37 +02:00 |