Commit Graph

12 Commits (040f407b0b7a6d7a72c568219e6400a8c29cee0a)

Author SHA1 Message Date
Frank Dellaert 0d7d0e2161 Explicit template instantiation in .cpp files, so we can link with the code without having to include -inl.h everywhere... 2009-10-30 05:45:22 +00:00
Frank Dellaert 80b162a412 LinearFactorGraph::eliminate_one is now FactorGraph::eliminateOne<ConditionalGaussian>
Symbolic version FactorGraph::eliminateOne<SymbolicConditional> also implemented and tested
2009-10-29 14:34:34 +00:00
Frank Dellaert a513ae0287 Changed names and moved two LinearFactorGraph functions to FactorGraph
Added SymbolicFactorGraph compiulation unit and unit tests
Added symbolic combine constructor
2009-10-29 05:39:13 +00:00
Frank Dellaert b6cee73571 Significant change: Made FactorGraph templated on Factor only, and moved error and probPrime to derived classes
Moved find_and_remove_factors to base class
Added and tested symbolic factor graph constructor and conversion from any factor graph type
2009-10-29 04:11:23 +00:00
Frank Dellaert cd3e3d8a86 Fairly substantial change: Factor now Testable, MutableLinearFactor gone
The latter was prompted by the fact that assert_equal did not like mixing LinearFactor and MutableLinearFactor
But MutableLinearFactor always was a bit of a kluge. We should eradicate all non-const on LinearFactor some other way.
2009-10-22 17:23:24 +00:00
Alex Cunningham 7d0a30c20f Renamed FGConfig to VectorConfig in gtsam, easylib, EasySLAM, and mast. 2009-10-14 20:39:59 +00:00
Alex Cunningham 8f20523e7f ConstrainedLinearFactorGraphs now handles multiple constraints on a node properly.
smallExample was changed to include two of the examples used in testConstrainedLinearFactorGraph
ConditionalGaussian was changed to make solve() virtual, as this is necessary for ConstrainedConditionalGaussian
2009-10-14 15:32:05 +00:00
Alex Cunningham 66dac8a52f Generalized constraint handling to create a LinearConstraint which implements linear equality constraints that can be eliminated as a part of a ConstrainedLinearFactorGraph. DeltaFunction has been changed to be a ConstrainedConditionalGaussian, which has a more robust solve() function. The new tests no longer use the "constrained" example from smallExample, so those functions have been commented.
''Limitations: ''
 * Any given node can only have one constraint on it, but constraints can be of arbitrary size
 * Constraints can only be specified as a blockwise system, where each block must be square and invertible to support arbitrary elimination orderings.  
  * ConstrainedNonlinearFactorGraph is disabled until a better solution for handling constraints in the nonlinear case is determined.
2009-10-08 13:57:22 +00:00
Frank Dellaert 68e20eec2c 2 BIG changes:
(1) FactorGraph and NonlinearOptimizer now no longer have a .cpp file, but a -inl.h file as in [http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml Google's C++ Style Guide]. This means if you expect to instantiate one of the functions in a cpp file, you have to include the -inl.h file.
(1) getOrdering is now in FactorGraph, and the non-linear version does *not* take a config anymore. 
Long version: I made this change because colamd works on the graph structure alone, and should not depend on the type of graph. Instead, because getOrdering happened to implemented in LinearFactorGraph first, the non-linear version converted to a linear factor graph (at the cost of an unnecessary linearization), and then threw all that away to call colamd. To implement this in a key-neutral way (a hidden agenda), i had to modify the keys_ type to a list, so a lot of changes resulted from that.
2009-09-13 04:13:03 +00:00
Frank Dellaert c69d8d9b36 Factor Graph serialization, and renaming of factors -> factors_ 2009-08-31 02:40:26 +00:00
Manohar Paluri e2a05b37d8 changed parameter to const in function eq_combine_and_eliminate 2009-08-28 15:15:05 +00:00
Richard Roberts d80fa24a9f Fixing directory structure 2009-08-21 22:23:24 +00:00