Frank Dellaert
|
f684becf1f
|
Fixed Dbetween1
|
2010-01-08 03:06:03 +00:00 |
Richard Roberts
|
19a3e228d7
|
Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes.
|
2010-01-08 00:40:17 +00:00 |
Kai Ni
|
a845b3d30a
|
generate ordering from the spanning tree
|
2010-01-07 08:00:54 +00:00 |
|
Kai Ni
|
6298a45050
|
use prim algorithm instead of kruskal for finding MST, which yields the parent map.
|
2010-01-07 06:25:54 +00:00 |
Alex Cunningham
|
20c6f29823
|
Moved control-related components to separate library
|
2010-01-06 20:01:34 +00:00 |
|
Frank Dellaert
|
b20ed42134
|
log and between
|
2010-01-06 19:29:41 +00:00 |
|
Frank Dellaert
|
f77da96caf
|
Modernized and tested RQ and added Rot3::ypr. Note this yaw-pitch-roll is different from ML version, which is focused on cameras. Let the fun begin...
|
2010-01-06 15:52:43 +00:00 |
|
Kai Ni
|
9845a5ae37
|
add findMinimumSpanningTree to FactorGraph
|
2010-01-06 11:15:37 +00:00 |
|
Frank Dellaert
|
cd644e75a5
|
GaussianBayesNet::matrix now properly divides in sigmas
|
2010-01-05 14:14:49 +00:00 |
|
Frank Dellaert
|
22d66df766
|
added manifold test
|
2010-01-05 14:13:51 +00:00 |
|
Richard Roberts
|
39334ea9e0
|
Update MATLAB wrapper for earlier Pose2* changes
|
2010-01-04 18:07:24 +00:00 |
|
Kai Ni
|
46cc85e351
|
added size and clear to pose2config
|
2010-01-03 07:25:59 +00:00 |
Michael Kaess
|
052149771a
|
relinearizing factors corresponding to contaminated cliques
|
2010-01-03 04:57:35 +00:00 |
|
Kai Ni
|
cade0e7780
|
fix timing test linking problem by using noinst_PROGRAMS
|
2010-01-03 00:23:16 +00:00 |
Manohar Paluri
|
68159fb5e4
|
corrected SubgraphPreconditioner case
|
2010-01-02 20:24:59 +00:00 |
|
Frank Dellaert
|
f82b46f96c
|
Sped up rodriguez and replaced slow implementation with call to fast implementation. Also moved some functions to cpp.
|
2010-01-02 14:28:18 +00:00 |
|
Frank Dellaert
|
a1c55b9f62
|
Updated Pose2Config to expected coding standard
|
2010-01-02 10:33:33 +00:00 |
|
Frank Dellaert
|
ff06cd757f
|
moved all "Urban" factors and tests to (cmake-based) CitySLAM project
|
2009-12-31 16:54:23 +00:00 |
|
Frank Dellaert
|
a1d14ba2ae
|
Added Bayes Net and Subgraph preconditioners to gtsam (developed in CitySLAM project)
|
2009-12-31 12:56:47 +00:00 |
|
Frank Dellaert
|
730f4a546f
|
Added planar graph with easy subtree
|
2009-12-31 12:55:51 +00:00 |
|
Frank Dellaert
|
07cc95e4c4
|
Comments and formatting
|
2009-12-31 12:55:16 +00:00 |
|
Frank Dellaert
|
eaa8176de1
|
correct behavior when entire columns are zero
|
2009-12-31 10:30:44 +00:00 |
|
Frank Dellaert
|
46a65d89df
|
using ediv_ where needed
|
2009-12-31 10:30:06 +00:00 |
|
Frank Dellaert
|
f7d5b517a4
|
ediv_ is same as ediv except returns 0 for 0/0 division, needed for dealing with constraints
|
2009-12-31 10:29:25 +00:00 |
|
Frank Dellaert
|
3fbc857a9e
|
fixed behavior of error for sigma==0
|
2009-12-31 10:28:43 +00:00 |
|
Frank Dellaert
|
9b327d1a9d
|
added reset
|
2009-12-31 10:27:39 +00:00 |
|
Frank Dellaert
|
bf85f10de7
|
subtraction
|
2009-12-31 10:27:16 +00:00 |
|
Michael Kaess
|
b4e65e9631
|
progress in ISAM2, but unit test still disabled
|
2009-12-31 05:35:08 +00:00 |
|
Richard Roberts
|
afc3028ad5
|
Fixed bug in testPose2Factor optimize unit test where only the first expected value was checked.
|
2009-12-30 18:41:33 +00:00 |
|
Frank Dellaert
|
793a9d58ae
|
Errors is now a list
|
2009-12-30 17:13:36 +00:00 |
|
Frank Dellaert
|
f80ac5d7d5
|
backSubstitute functions (unit-tested in CitySLAM) for preconditioning
|
2009-12-30 17:13:24 +00:00 |
|
Frank Dellaert
|
2368f3605a
|
getReference
|
2009-12-30 14:53:40 +00:00 |
|
Frank Dellaert
|
15bb00683a
|
transpose backsubstitute on upper-triangular matrix
|
2009-12-30 13:20:16 +00:00 |
|
Michael Kaess
|
42fca8c399
|
nonlinear update, all but rhs/config
|
2009-12-30 04:27:14 +00:00 |
|
Richard Roberts
|
0b9451bc4b
|
Initializing libtool correctly in gtsam (see email to frankcvs with same subject)
|
2009-12-29 20:01:38 +00:00 |
|
Michael Kaess
|
737a2f1e05
|
unit test enabled again and working
|
2009-12-29 14:54:45 +00:00 |
|
Frank Dellaert
|
c43cd425ab
|
new back-substitution functions that can do unit triangular solves
|
2009-12-29 13:59:34 +00:00 |
|
Michael Kaess
|
75ab62a729
|
ISAM2 (nonlinear ISAM) partially there, unit test currently disabled
|
2009-12-29 05:57:05 +00:00 |
|
Frank Dellaert
|
8d4a029665
|
rhs method
|
2009-12-28 18:46:01 +00:00 |
|
Frank Dellaert
|
543d3fcd65
|
System now a class (gradient is method)
|
2009-12-28 17:28:48 +00:00 |
|
Frank Dellaert
|
0c0b73042b
|
template now exposed in iterative.h, and has its own implementation file
|
2009-12-28 16:26:16 +00:00 |
|
Frank Dellaert
|
5ac304aff3
|
correct convergence criterion, verbose flag
|
2009-12-28 16:15:26 +00:00 |
|
Frank Dellaert
|
674ae9d030
|
steepest descent now all implemented in iterative.h/cpp
|
2009-12-28 12:37:34 +00:00 |
|
Frank Dellaert
|
bc27afc49f
|
CGD method now uses CGD template in iterative.cpp
|
2009-12-28 10:48:48 +00:00 |
|
Frank Dellaert
|
863ee58c0f
|
new iterative.h/cpp compilation unit
|
2009-12-28 09:56:58 +00:00 |
|
Frank Dellaert
|
d9fd502656
|
moved CG tests from testGFG to testIterative
|
2009-12-28 09:44:30 +00:00 |
|
Frank Dellaert
|
1fac98b4cb
|
Errors:dot, VectorConfig::operator*/-, as a result Conjugate Gradient Descent template now works for factor graphs
|
2009-12-28 08:15:09 +00:00 |
|
Michael Kaess
|
5dfd1921e1
|
template nightmare resolved, all tests working
|
2009-12-27 23:15:36 +00:00 |
|
Frank Dellaert
|
266fc56dea
|
Gradient using new operator^ and errors method
|
2009-12-27 12:13:31 +00:00 |
|
Frank Dellaert
|
7d1428de60
|
Added Errors class and operator* for GaussianFactor and GaussianFactorGraph. Also moved a few functions to cpp.
|
2009-12-26 22:48:41 +00:00 |
|
Frank Dellaert
|
6614434b83
|
System version of CG
|
2009-12-26 21:25:45 +00:00 |
|
Richard Roberts
|
8d3918e7f9
|
Typo made testPose2Factor not build on Linux
|
2009-12-26 19:31:02 +00:00 |
|
Frank Dellaert
|
f3965b07ca
|
Conjugate Gradient Descent template (in progress)
|
2009-12-26 15:06:54 +00:00 |
|
Frank Dellaert
|
886c7dcdcc
|
formatting and comments
|
2009-12-26 15:06:21 +00:00 |
|
Frank Dellaert
|
8dbf79706e
|
commented out two broken tests
|
2009-12-26 15:05:55 +00:00 |
|
Michael Kaess
|
4403b51fcd
|
isam functionality separated into ISAM class, still within BayesTree
|
2009-12-26 04:44:13 +00:00 |
|
Frank Dellaert
|
2cb52694b5
|
Multiply with transpose sugar A'*v = A^v
|
2009-12-25 17:52:58 +00:00 |
|
Michael Kaess
|
80ff7e6d26
|
uncommented urban In Makefile.am as it prevents linking; added Pose2Prior; ISAM2/planar now working
|
2009-12-24 23:44:08 +00:00 |
|
Richard Roberts
|
92b60a8543
|
Made 'between' derivatives in the tangent space of the solution instead of tangent space of identity, this makes Pose2 an "origin-free" manifold.
|
2009-12-21 16:43:23 +00:00 |
|
Frank Dellaert
|
d0b757da48
|
remove method to set factor to NULL
|
2009-12-20 21:21:01 +00:00 |
justinca
|
3158a5c7c1
|
Rework UrbanMeasurement to be more efficient, less duplicate code. Add real unit tests for the class
|
2009-12-20 14:59:37 +00:00 |
|
Frank Dellaert
|
d362fa13d8
|
print is more intuitive using reverse order
|
2009-12-20 11:56:33 +00:00 |
|
Frank Dellaert
|
18c44e0d1f
|
Comments only
|
2009-12-20 10:32:34 +00:00 |
|
justinca
|
7012fd2857
|
UrbanMeasurement first pass at implementation. Still need to add test data, sort out some details.
|
2009-12-18 19:43:55 +00:00 |
|
Richard Roberts
|
82825a30bf
|
Fixed unit test broken by fix in Pose2Factor
|
2009-12-18 14:42:19 +00:00 |
|
Frank Dellaert
|
b14094cb1f
|
testUrbanOdometry
|
2009-12-18 07:15:19 +00:00 |
|
Frank Dellaert
|
d11d674c01
|
addOdometry now works
|
2009-12-18 06:55:44 +00:00 |
|
Frank Dellaert
|
c987ab397c
|
error_vectors
|
2009-12-18 06:55:24 +00:00 |
|
Frank Dellaert
|
bf504d30db
|
new concatVectors call
|
2009-12-18 06:11:19 +00:00 |
|
Frank Dellaert
|
ac72d1cc22
|
renamed transformPose_to to transform_to, composeTransform to compose, and changed nr. of arguments of Dtransform_to2 (to two)
|
2009-12-18 05:36:53 +00:00 |
|
Frank Dellaert
|
eaf27af92d
|
error_vector and error unit-tested
|
2009-12-18 05:18:31 +00:00 |
|
Frank Dellaert
|
edb72d305f
|
better error message, formatting
|
2009-12-18 05:16:09 +00:00 |
|
Frank Dellaert
|
0194926dc2
|
transpose not needed
|
2009-12-18 05:14:34 +00:00 |
|
Frank Dellaert
|
c9bd327961
|
formatting
|
2009-12-18 05:14:08 +00:00 |
|
Alex Cunningham
|
e2bc13a2a6
|
Renaming gradients -> jacobians
|
2009-12-18 03:05:47 +00:00 |
|
Frank Dellaert
|
a3deb992c4
|
use BOOST_FOREACH
|
2009-12-18 02:48:21 +00:00 |
|
Alex Cunningham
|
a1918056a5
|
Changed NonlinearConstraints to take cost and gradient functions that do not take the list of keys. Tests have been reconstructed using boost::bind
|
2009-12-18 02:39:02 +00:00 |
|
Frank Dellaert
|
5a0bc8ab53
|
remove binaries
|
2009-12-18 02:30:05 +00:00 |
|
Frank Dellaert
|
cf1fde7bda
|
UrbanFactor, UrbanGraph.cpp, template instantiations
|
2009-12-18 02:27:50 +00:00 |
|
Alex Cunningham
|
7d0de77fc6
|
Changed argument ordering for constraints
|
2009-12-18 01:40:29 +00:00 |
|
Frank Dellaert
|
7dfc67860c
|
unit tests for new Urban* classes
|
2009-12-18 01:24:28 +00:00 |
|
Alex Cunningham
|
d75a602546
|
Removed failed test testSQPOptimizer
|
2009-12-18 01:24:19 +00:00 |
|
Richard Roberts
|
ff817551de
|
Added FactorGraph::replace(index, factor) to replace one factor with another (used in FrameSLAM).
|
2009-12-18 00:13:38 +00:00 |
|
Richard Roberts
|
3c0ae0ec1c
|
Math fix in linearize() and error_vector()
|
2009-12-18 00:10:20 +00:00 |
|
Richard Roberts
|
7161878285
|
Small changes: standardized constructors, added log() and unit tests, removed +,- ops, angle() changed to theta(), print functions
|
2009-12-18 00:09:54 +00:00 |
Viorela Ila
|
d61d92c0e7
|
UrbanGraph class and testUrbanGraph TODOs
|
2009-12-17 21:23:50 +00:00 |
|
Frank Dellaert
|
68de3ae715
|
better comments
|
2009-12-17 19:34:27 +00:00 |
|
Manohar Paluri
|
dc9a966fdd
|
moved shared pointer declaration to Cal3_S2.h
|
2009-12-17 10:02:43 +00:00 |
|
Richard Roberts
|
3326759f0b
|
Removed extra ;
|
2009-12-16 21:41:33 +00:00 |
|
Richard Roberts
|
c45f64657f
|
Changes to make Pose2Config work with NonlinearOptimizer
|
2009-12-16 21:40:41 +00:00 |
|
Richard Roberts
|
83c95f2343
|
Changed constructor used from Pose2(t,R) to Pose2(R,t)
|
2009-12-16 21:39:03 +00:00 |
|
Frank Dellaert
|
9efac7b3fb
|
Some re-naming and re-formatting only
|
2009-12-15 05:34:49 +00:00 |
|
Richard Roberts
|
94f986bbe7
|
Indentation
|
2009-12-15 00:00:02 +00:00 |
Chris Beall
|
a7a5e5e816
|
small performance improvement by using a pointer to address r
|
2009-12-14 16:56:50 +00:00 |
|
Richard Roberts
|
71bc9ca0f7
|
Added unit tests that were missing
|
2009-12-14 15:45:45 +00:00 |
|
Richard Roberts
|
971b575715
|
Fix duplicate definition error by adding 'inline' to checkConvergence
|
2009-12-14 06:10:51 +00:00 |
|
Michael Kaess
|
2270c7d787
|
BayesTree animation
|
2009-12-14 06:01:15 +00:00 |
|
Richard Roberts
|
c4b60bfd65
|
Closing # 118: Made Pose2 use Rot2, added 'compose' for Pose2, made slight modifications to Rot2. Also added additional unit tests. This change shouldn't break anything but let me know if it does.
|
2009-12-14 03:02:05 +00:00 |
|
Michael Kaess
|
0116b3a515
|
severe bug fixed in updating of Bayestree
|
2009-12-13 20:54:48 +00:00 |
|
Viorela Ila
|
d5d70d7751
|
gradientDescent_ and conjugateGradientDescent_ works in matlab
|
2009-12-13 03:02:14 +00:00 |
|
Frank Dellaert
|
6e3f36dc63
|
Trying different orderings
|
2009-12-12 12:53:39 +00:00 |
|
Frank Dellaert
|
2914d663de
|
No print in tests
|
2009-12-12 06:18:59 +00:00 |
|
Frank Dellaert
|
c38683cd64
|
Sped up and fixed (?) sparse
|
2009-12-12 06:18:29 +00:00 |
|
Frank Dellaert
|
99533f286f
|
Vanilla Conjugate Gradient Descent works
|
2009-12-12 04:44:34 +00:00 |
|
Frank Dellaert
|
2a2963b7dd
|
Added a numerical gradient calculation test
|
2009-12-12 04:13:12 +00:00 |
|
Frank Dellaert
|
56a4172480
|
Fixed printing in matlab
|
2009-12-12 04:12:24 +00:00 |
|
Chris Beall
|
be10fc2a90
|
18% performance boost by using pointer to address destination matrix A
|
2009-12-11 23:59:37 +00:00 |
|
Viorela Ila
|
631248f902
|
no print yet
|
2009-12-11 23:16:57 +00:00 |
|
Viorela Ila
|
570c6a3c71
|
print method for Pose2Graph
|
2009-12-11 23:00:52 +00:00 |
|
Viorela Ila
|
8a9f05059c
|
implement getOrdering_ to work in matlab
|
2009-12-11 22:53:48 +00:00 |
|
Frank Dellaert
|
a1e90af90f
|
exmap that takes Vector
|
2009-12-11 22:43:34 +00:00 |
|
Frank Dellaert
|
137291b2c9
|
Vector-like operators
|
2009-12-11 21:38:08 +00:00 |
|
Frank Dellaert
|
e46cfbd7c4
|
fixed bug in sum
|
2009-12-11 21:37:52 +00:00 |
|
Frank Dellaert
|
bca489384e
|
dot product
|
2009-12-11 21:37:40 +00:00 |
|
Viorela Ila
|
76b55aba7d
|
linearize method for Pose2Graph works in Matlab!!
|
2009-12-11 21:34:08 +00:00 |
|
Viorela Ila
|
03304ac421
|
testPose2Graph tests linearize
|
2009-12-11 19:32:46 +00:00 |
|
Frank Dellaert
|
a66f08a5e0
|
testing new alphaFactor
|
2009-12-11 18:03:43 +00:00 |
|
Frank Dellaert
|
f91a1f0192
|
error_vector
|
2009-12-11 17:42:54 +00:00 |
|
Frank Dellaert
|
abc268a13d
|
quick cleanup - expmap comments
|
2009-12-11 14:22:35 +00:00 |
|
Frank Dellaert
|
16e1f6e56d
|
use Vector_ for conciseness
|
2009-12-11 05:28:19 +00:00 |
|
Frank Dellaert
|
726858145a
|
gradient descent (with fixed nr. of iterations, choosing optimal step size)
|
2009-12-11 04:59:05 +00:00 |
|
Frank Dellaert
|
299fcf1e04
|
scale is const !
|
2009-12-11 04:57:31 +00:00 |
|
Frank Dellaert
|
c57501eddd
|
fix macro so GTSAM_PRINT(*foo) works
|
2009-12-11 04:57:14 +00:00 |
|
Frank Dellaert
|
7151e7b24a
|
new constructor from vector
|
2009-12-11 04:56:29 +00:00 |
|
Frank Dellaert
|
4af2382105
|
Gradient at solution is zero !
|
2009-12-11 02:59:09 +00:00 |
|
Chris Beall
|
532ea0ae36
|
fixed weird error that several of us have been experiencing with GaussianBayesTree.h appearing twice in the install command. fixed by moving Symbolic inference section above Inference Section.
|
2009-12-11 01:38:45 +00:00 |
|
Viorela Ila
|
1a96534016
|
add Pose2Graph
|
2009-12-10 23:45:38 +00:00 |
|
Frank Dellaert
|
e7a912bd3b
|
Calculate gradient of factor graph objective function.
|
2009-12-10 20:19:15 +00:00 |
|
Frank Dellaert
|
67e1897e47
|
Get and [] now return references, new imperative add method
|
2009-12-10 20:17:11 +00:00 |
|
Frank Dellaert
|
81ce0bef88
|
New operator for left-multiplication of vector
|
2009-12-10 20:16:40 +00:00 |
|
Michael Kaess
|
2df0e49e9b
|
optimize works for GaussianBayessTree
|
2009-12-10 17:00:11 +00:00 |
|
Frank Dellaert
|
f44af12836
|
Renamed variable
|
2009-12-10 15:34:09 +00:00 |
|
Frank Dellaert
|
d26664d975
|
Convenience functions for adding factors
|
2009-12-10 15:33:52 +00:00 |
|
Viorela Ila
|
e0274dab59
|
Pose2Config constructor
|
2009-12-10 04:12:41 +00:00 |
|
Viorela Ila
|
072dea81b0
|
rename Pose2Constraint using Pose2Factor
|
2009-12-09 23:43:01 +00:00 |
|
Manohar Paluri
|
cee3f2a355
|
fixed recursive inclusion. Was giving error when you build gtsam
|
2009-12-09 22:53:44 +00:00 |
|
Frank Dellaert
|
db0d7286c2
|
Fixed Michael's c++ trubbles.
|
2009-12-09 22:15:38 +00:00 |
|
Michael Kaess
|
72ba1bee24
|
separate cpp
|
2009-12-09 22:02:50 +00:00 |
|
Frank Dellaert
|
7d4de3ec20
|
Added a 1D manifold implementation of 2D rotations. The new representation stores (cos theta, sin theta) rather than theta itself, ensuring that (a) rotate and unrotate do not call cos/sin, (b) same for all derivatives of rotate and unrotate, (c) when you call angle(), you always get the standardized answer given by atan2. The idea is that we will use this new type in Pose2 instead of angle.
|
2009-12-09 21:50:27 +00:00 |
|
Chris Beall
|
91370a9d7a
|
added public iterator typedefs to VSLAMConfig to make it easier for other code to consume the optimization results.
|
2009-12-09 21:47:23 +00:00 |
|
Manohar Paluri
|
1ec93f05cd
|
added a test case which uses getOrdering instead of defining the order manually.
|
2009-12-09 21:22:16 +00:00 |
|
Frank Dellaert
|
a9dc57db2c
|
|
2009-12-09 21:00:53 +00:00 |
|
Michael Kaess
|
ffa009d3ff
|
accidentially checked in
|
2009-12-09 20:56:03 +00:00 |
|
Michael Kaess
|
34e913e236
|
optimization over cliques started
|
2009-12-09 20:49:04 +00:00 |
|
Viorela Ila
|
638b174541
|
Pose2Constraint works in matlab
|
2009-12-09 19:55:25 +00:00 |
|
Michael Kaess
|
4200271cf4
|
GaussianBayesTree added, testBayesTree split
|
2009-12-09 19:39:25 +00:00 |
|
Chris Beall
|
a4a552ea86
|
fixed bug concerning variable keys not being saved.
|
2009-12-09 19:13:02 +00:00 |
|
Chris Beall
|
3b3c76b273
|
cleaned up, and removed Testable here because it's already provided by base class FactorGraph
|
2009-12-09 19:11:45 +00:00 |
|
Viorela Ila
|
b87aa58c1f
|
add Pose2Constraint class
|
2009-12-09 17:29:43 +00:00 |
|
Manohar Paluri
|
f764772106
|
added getOrdering unit test
|
2009-12-09 15:25:50 +00:00 |