99e4c09a7e
Added a FixedVector class that uses a bounded boost vector to allow for type-level dimension specification
2010-08-02 19:01:00 +00:00
d1ae7132ac
Added constructor to upgrade a TypedSymbol to a labeled symbol
2010-07-26 17:23:18 +00:00
bde73355b8
fixed duplicated symbols between simulated2D and planarSLAM
2010-07-20 14:38:27 +00:00
d938f92844
Replaced instances of PairConfig with TupleConfig2, cleaned up documentation on TupleConfigs
2010-07-19 19:55:24 +00:00
2a2bc2f70f
multi-frontal solver works now as a result of flight delay
2010-07-18 20:23:23 +00:00
a3da89b63a
NonlinearConstraints are now implemented using the simple linearization method with quadratic merit function
2010-07-18 19:55:53 +00:00
b5c0f3cee8
Simplified Cluster class, elimination tree constructors tested, junction tree tests disabled for now.
2010-07-14 23:48:51 +00:00
bd58c65a9c
Added EliminationTree framework
2010-07-14 15:22:37 +00:00
c3a907127f
Created ClusterTree (duplicate of Junction tree for now, will split later). GaussianJunctionTree is no longer a template. TestJunctionTree now tests with SymbolicFactorGraph
2010-07-13 22:03:18 +00:00
30b377e441
Fix makefiles to refer to $(top_srcdir) to enable parallel build
2010-07-13 19:13:07 +00:00
559eaf8cc1
Moved smallExample to slam, as used in some project unit tests as well. [tests] no longer builds a local library as a consequence.
2010-07-13 05:26:19 +00:00
8ce5e321c8
Last part of re-organization for now: all things linear/Gaussian are now in the "linear" sub-directory.
2010-07-12 22:18:38 +00:00
c9db61e137
Newly functional build: second part of re-organization. cpp now split into inference and nonlinear.
2010-07-12 16:36:58 +00:00
fea5beb638
Re-organization: moving all files.
...
I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests.
cpp will be further renamed/sub-divided and contains the core library.
I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 07:16:31 +00:00
6248db54dd
distribute the factors along the junction tree
2010-07-09 07:31:15 +00:00
39d18328e6
added CCOLAMD, changed colamd compile from C++ to C compiler, added extern accordingly
2010-07-08 21:54:53 +00:00
d5c6f62387
massive check in for using spqr_front
2010-07-04 23:50:21 +00:00
2d40df17ac
added a vector-based DSF implmentation
2010-06-25 06:35:44 +00:00
553cf83194
created some unit tests to help viorela to debug
2010-06-10 18:09:57 +00:00
e8979dafad
Renabled BLAS using ATLAS for Linux, fixed a variety of annoying warnings
2010-05-21 17:59:26 +00:00
6eca454de1
Added a separate ConstraintOptimizer, and moved CQP test from testMatrix to testConstraintOptimizer
2010-04-23 02:08:34 +00:00
a647c84c16
added splitMinimumSpanningTree that uses DSF
2010-03-30 07:27:10 +00:00
cc2e42aa15
added DSF
2010-03-27 06:05:06 +00:00
47a01b1d90
Tried making tests less verbose
2010-02-23 15:13:49 +00:00
274265a401
Errors:axpy and testErrors
2010-02-21 00:01:43 +00:00
cd5c281c76
Added get and set
2010-02-18 14:30:16 +00:00
c044b749cc
Removed old make targets
2010-02-17 14:21:09 +00:00
3247751b5d
Major check-in: there are now two interchangeable implementations of VectorConfig.
...
VectorMap uses a straightforward stl::map of Vectors. It has O(log n)
insert and access, and is fairly fast at both. However, it has high overhead
for arithmetic operations such as +, scale, axpy etc...
VectorBTree uses a functional BTree as a way to access SubVectors
in an ordinary Vector. Inserting is O(n) and much slower, but accessing,
is O(log n) and might be a bit slower than VectorMap. Arithmetic operations
are blindingly fast, however. The cost is it is not as KISS as VectorMap.
Access to vectors is now exclusively via operator[]
Vector access in VectorMap is via a Vector reference
Vector access in VectorBtree is via the SubVector type (see Vector.h)
Feb 16 2010: FD: I made VectorMap the default, because I decided to try
and speed up conjugate gradients by using Sparse FactorGraphs all the way.
2010-02-17 03:29:12 +00:00
1cc5bf748b
make file changes and added make targets to the cproject
2010-02-14 07:26:10 +00:00
f88438bab4
Removed SQP optimizer and moved remaining SQP optimizer tests into testSQP. All equality constraints should be fully functional now. Inequality constraints still to come.
2010-02-06 14:48:46 +00:00
65bc90bf15
timing VectorConfig to speed up iterative
2010-01-29 13:57:45 +00:00
1685920d52
fixed Ab2 bug
2010-01-23 05:29:04 +00:00
b092fee64b
pose2slamoptimizer unit tests worked
2010-01-23 03:49:05 +00:00
807cffbd61
Pose2SLAMOptimizer prototype for use in MATLAB
2010-01-23 00:57:54 +00:00
41a6e64bbb
Fixed insert to use IndexTable, a new class
2010-01-22 02:27:26 +00:00
0dc4f417e9
sampling from NoiseModel
2010-01-21 08:31:18 +00:00
5f588031bc
Merged NoiseQR back into trunk
2010-01-20 18:32:48 +00:00
67878830a6
Added timeMatrix.cpp to test specific matrix operations
2010-01-19 20:59:22 +00:00
88e465910a
SQP tests and implementation now use the new Key system
2010-01-19 05:33:44 +00:00
0e6607d160
relinearization working, but currently applied to all variables
2010-01-18 22:37:44 +00:00
dfeacb218e
Added tests for Keys, Added TypedLabeledSymbol class to allow for runtime symbols on keys
2010-01-18 16:18:02 +00:00
3a83e0678d
KISS refactor of NoiseModel
2010-01-17 00:37:34 +00:00
049cea6964
3D Pose SLAM + removed obsolete Urban files that somehow re-appeared in CitySLAM
2010-01-16 19:37:17 +00:00
99db4c37d8
2D Pose SLAM: created a new templated factor to accommodate GPS measurements, and as part of the refactor I consolidated all Pose2 SLAM classes in pose2SLAM.h. For backwards compatibility it contains
...
typedef pose2SLAM::Prior Pose2Prior;
typedef pose2SLAM::Odometry Pose2Factor;
typedef pose2SLAM::Constraint Pose2Constraint;
typedef pose2SLAM::Config Pose2Config;
typedef pose2SLAM::Graph Pose2Graph;
2010-01-16 18:01:16 +00:00
4914091c87
Pose2Prior test
2010-01-16 15:39:39 +00:00
df62213619
RangeFactor works
2010-01-14 06:00:17 +00:00
ac10c440e1
PairConfig is implemented, VSLAMConfig is now a typedef!
2010-01-14 02:58:29 +00:00
5a02b36723
Solved some linking problems
2010-01-14 01:44:00 +00:00
4369cd2d92
1) add a compose function that compose all the poses in a factor graph given the spanning tree
...
2) add a new graph-inl.h which takes care of all the boost graph related functions to prevent the copy and paste across several classes
2010-01-12 16:12:25 +00:00
769763a35d
new target/ignore
2010-01-12 03:16:45 +00:00
Alex Cunningham
Kai Ni
Frank Dellaert
Michael Kaess
Manohar Paluri
Richard Roberts