6111c099ab
Improved build of shared vs static GTSAM libraries - now possible to build either one or both, executables link to the shared if it is being build, or otherwise to the static. Also removed separate shared/static CMake flags for gtsam_unstable, now uses the same GTSAM_BUILD_SHARED and GTSAM_BUILD_STATIC as gtsam.
2013-03-13 18:17:39 +00:00
72db4793c5
Fixed bugs in iSAM2 leaf marginalization found in HMF testing - set of factors to remove, adding new leaf clique from remaining variables. Also relies on bug fix in BayesTree::removeClique a couple of commits ago.
2013-03-05 05:47:27 +00:00
cd300bfeff
First pass at marginalization of leaves in iSAM2 - passes unit tests but needs to be tested on real data
2013-02-24 19:09:54 +00:00
7aa45115a1
Replaced depreciated boost::shared_dynamic_cast with boost::dynamic_pointer_cast to work with boost 1.53
2013-02-11 20:24:53 +00:00
6eafc9420e
update namespace mEstimator for unittests
2013-02-08 00:47:52 +00:00
013705232c
Maintain reverse-lookup inside of Ordering, to allow fast partial permutations, and modified iSAM2 to use partial permutations on Ordering. Removed InvertedOrdering and updated other GTSAM code and unit tests to use the Ordering reverse-lookup function "key" instead of calculating and inverse ordering.
2013-01-08 23:31:06 +00:00
c42bccbb3e
Increased chain length in timeiSAM2Chain
2012-12-18 14:21:49 +00:00
4e7393cc08
Added timing test for a long chain in iSAM2
2012-12-18 14:21:12 +00:00
7309aa0ffa
Unit tests pass with piecewise VectorValues implementation (for fast permutations)
2012-12-18 14:21:02 +00:00
bd285fbb52
Merge remote-tracking branch 'svn/trunk' into isam2-chain-optimization
...
Conflicts:
gtsam/linear/HessianFactor.cpp
gtsam/linear/VectorValues.cpp
2012-12-18 14:20:31 +00:00
5b9271cb97
VV work
2012-11-23 23:22:53 +00:00
aba48e4492
Commented out serialization in timeIncremental
2012-11-14 00:55:31 +00:00
0c3761a2a9
Reverted r14178, r14179, r14195, r14196 (isam2 chain optimizations) to move them to a branch
2012-11-11 20:51:03 +00:00
43778a6ed3
--update the distance() of robust noise model
...
--add a nonlinear optimization unit test using robust noise model
2012-11-06 22:42:01 +00:00
43f08ce806
Increased chain length in timeiSAM2Chain
2012-11-05 01:04:16 +00:00
10f69cfca0
Added timing test for a long chain in iSAM2
2012-11-02 22:07:30 +00:00
46c1d0c512
Added joint marginal timing to timeIncremental script
2012-10-31 22:27:36 +00:00
4d4e17c2a7
Joint marginals using lowest-common-ancestor shortcuts. As part of this commit, caching of shortcuts is removed, the BayesTreeCliqueBase::marginal function computing single-variable shortcut marginals is removed, and the factor/frontal size checks in symbolic and discrete elimination are modified to permit eliminating empty factors or zero frontal variables.
2012-10-28 06:21:21 +00:00
279738c56f
Renamed unit tests to match file name
2012-10-28 06:21:17 +00:00
920bb52453
Moved eliminate and eliminateOne from inference to FactorGraph
2012-10-22 17:49:41 +00:00
656080ad2f
Fixed warning
2012-10-08 23:58:57 +00:00
3218a7bca4
Added missing main function
2012-10-08 23:03:02 +00:00
9793f8b7f7
Finalized batch and incremental timing scripts
2012-10-08 22:40:47 +00:00
f3a2887af1
Moved GaussianBayesTree tests into their own file, out of testGaussianISAM
2012-10-08 22:40:40 +00:00
b60189104c
Added checks for proper noise model dimension
2012-10-05 23:23:40 +00:00
054c326e3c
Added tests related to determining why non-unit sigmas were occurring in bayes tree - solution: Vector_() is dangerous
2012-10-04 20:23:45 +00:00
89b50e7679
Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
2012-10-02 20:18:41 +00:00
c44f8f7f80
Fixed examples from timing statement change (missed)
2012-10-02 18:49:48 +00:00
4876cc7ff7
Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list)
2012-10-02 18:36:39 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
96ce28625b
Timing marginals in timeIncremental
2012-10-01 16:12:43 +00:00
784e9f5755
Added overall timing scripts for batch and incremental (ISAM2) solving
2012-09-28 17:48:49 +00:00
aeb43bc8fc
Used technique described in http://gcc.gnu.org/onlinedocs/gcc/Diagnostic-Pragmas.html to turn off excessive warnings generated by boost lambda headers
2012-09-16 18:07:50 +00:00
89cd600165
avoid warnings
2012-09-16 17:54:43 +00:00
7266293a61
Cleaned up some remaining JacobinaFactorGraph remnants
2012-09-05 03:52:01 +00:00
c4c5dec9a3
Fixed testIterative unit tests
2012-09-05 03:06:22 +00:00
b0508cc1a8
Removed JacobianFactorGraph - moved its linear algebra interface to GaussianFactorGraph and redirected all uses of it to GaussianFactorGraph
2012-09-04 22:42:09 +00:00
c55f4be0d1
Comments added
2012-09-04 22:20:40 +00:00
73f8c0830b
Created new dense matrix functions in GaussianFactorGraph returning pair<Matrix,Vector> for easier access, and renamed functions to augmentedJacobian, augmentedHessian, jacobian, hessian
2012-09-04 15:05:57 +00:00
abd07e553e
Made new global functions in unit tests static to avoid duplicate symbols
2012-09-04 15:05:55 +00:00
af652b0e04
remove simpleSPCG
...
reorg SubgraphSolver
add unit test for SubgraphSolver
2012-09-03 19:43:08 +00:00
9497a233ce
Cleaned up all remaining commented-out unit tests from the old linear rewrite - removed or reenabled as needed.
2012-09-03 18:36:05 +00:00
35d188e36d
Moved testIterative.cpp back to GTSAM, made the first test compile/run
2012-09-03 18:01:24 +00:00
b6150bd27e
Removed deprecated unit tests from testGaussianFactorGraphB and moved SPCG-specific ones to testGraph and testJacobianFactorGraph
2012-09-03 18:00:26 +00:00
ab7594e8f0
Made SPCG unit tests compile again, needed several fixes in iterative.h
2012-09-03 00:06:13 +00:00
3e93c488e5
Removed extra code that was sometimes maintaining a staircase pattern in JacobianFactor by sorting rows - a holdover from the staircase optimization that is no longer done now that we are using Eigen's QR
2012-08-27 22:29:56 +00:00
af48d086ed
Fixed missing renames
2012-07-27 19:15:58 +00:00
5177f31a5d
Merge remote-tracking branch 'svn/trunk' into remove_slam_namespaces
...
Conflicts:
gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
matlab/examples/Pose2SLAMExample_circle.m
matlab/examples/Pose2SLAMExample_graph.m
matlab/examples/StereoVOExample_large.m
tests/testGradientDescentOptimizer.cpp
2012-07-27 19:01:43 +00:00
7fc6a622bf
Added additional factors to the serialization unit test
2012-07-25 22:13:22 +00:00
168ddf5457
add Cal3DS2.calibrate() with fixed point iteration
...
reorg nonlinear conjugate gradient solvers
wrapper for the linear solvers
2012-07-24 21:06:33 +00:00
592fa95d66
Fixed serialization for LieVector and LieMatrix
2012-07-24 14:50:01 +00:00
c2daf40c5d
Removed SLAM namespaces from testSerializationSLAM. Instead of testing each SLAM namespace individually, a single test was created that instanciates all variable-factor combinations. However, there is currently an issue with LieVector that should be resolved.
2012-07-23 22:50:21 +00:00
01bcd9e939
Removed SLAM namespace from testNonlinearOptimizer
2012-07-23 22:47:31 +00:00
7a0030070c
Removed SLAM namespace from testNonlinearISAM
2012-07-23 22:46:55 +00:00
c8f3356af5
Removed SLAM namespace from testNonlinearEquality
2012-07-23 22:46:21 +00:00
0e6762e5c9
Removed SLAM namespace from testInferenceB
2012-07-23 22:45:46 +00:00
2de44904ad
Removed SLAM namespace from testGraph
2012-07-23 22:45:07 +00:00
a641f599f6
Removed SLAM namespace from testGradientDescentOptimizer
2012-07-23 22:44:02 +00:00
fb33b8a609
removed SLAM namespace from testGaussianJunctionTreeB
2012-07-23 22:43:17 +00:00
0863b4148d
Removed SLAM namespace from testGaussianISAM2
2012-07-23 22:42:42 +00:00
f56d9c18e5
Removed SLAM namespace from testDoglegOptimizer
2012-07-23 22:41:53 +00:00
c32d1c7e02
Fixed dimensions bug in Marginals and added unit test
2012-07-23 19:29:52 +00:00
d397139fa9
Fixed dimensions bug in Marginals and added unit test
2012-07-23 19:20:53 +00:00
6266a2c56d
Removed SimpleString from CppUnitLite - now just uses std::string and boost::lexical_cast
2012-07-18 15:43:54 +00:00
af52b6811f
Fixing small warnings
2012-07-10 18:35:57 +00:00
96fc5991db
Automatic removal of unused variables in iSAM2 working in unit tests!
2012-06-30 22:32:49 +00:00
86f19362ab
Return FastSet instead of std::set from NonlinearFactorGraph::keys()
2012-06-30 22:32:46 +00:00
f06c7ad2e9
Lots of code de-duplication and cleanup in testGaussianISAM2
2012-06-30 22:32:42 +00:00
abd6795f5b
In progress removing variables from iSAM2
2012-06-30 19:17:54 +00:00
57ca7d77db
Removed Permuted views to simplify a lot of code - all objects that need to be permuted now have their data rearranged instead of using the "Permuted" indirection class.
2012-06-30 01:45:21 +00:00
c443ccbedd
More adding of static to avoid naming conflicts in unit tests
2012-06-30 01:44:00 +00:00
c7ff913f64
Added yet another configuration parameter to iSAM2. 'enablePartialRelinearizationCheck' checks variables for relinearization by descending the Bayes tree. Once a variable does not need to be relinearized, we stop checking that branch. A full check is still the default.
2012-06-28 20:46:53 +00:00
4e2aae0121
formatting of comments, added parent() interface for Bayes Tree cliques
2012-06-26 18:49:30 +00:00
1bf3ae51a9
Fixed make check compile error
2012-06-24 14:49:52 +00:00
2d0ce1c3ca
Streamlining of SLAM namespaces:
...
planarSLAM Values and Graph now derive from Pose3SLAM.
visualSLAM Values and Graph now derive from pose3SLAM.
Several methods have been renamed to make them consistent through these 4 namespaces:
addPrior -> addPosePrior
addHardConstraint -> addPoseConstraint
addOdometry/addConstraint -> addRelativePose
All gtsam and matlab examples/tests run.
PS: please don't use the deprecated typedefs in these namespaces.
2012-06-24 02:48:12 +00:00
0fe2d527f9
Fixed warnings due to discrete. GTSAM now Wall-safe?
2012-06-22 21:45:36 +00:00
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
...
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
...
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
...
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
...
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"
...
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
4a7b8bad27
--with-boost no longer required, automatically finding boost
2010-10-17 17:06:28 +00:00
a9a066aec7
Removed hard constraints from gtsam library (with the exception of NonlinearEquality) and moved them to gtsam_experimental and MastSLAM
2010-10-17 03:56:05 +00:00
bc36e653fd
depend on external CCOLAMD and DenseQR
2010-10-16 01:55:47 +00:00
130d9d2797
Made EliminationTree generic, with Symbolic and Gaussian unit tests
2010-10-15 15:53:36 +00:00
24d499039f
prepend license information on all the codes
2010-10-14 04:54:38 +00:00
5cbf67eeba
move colamd and spqr_mini out of gtsam
2010-10-14 02:41:08 +00:00
47b11749fe
Moved old elimination tree to gtsam_experimental
2010-10-13 22:07:52 +00:00
e545f59fb2
Inference::Marginal returns a factor graph
2010-10-13 20:41:26 +00:00
b56b0fe3a4
Moved test to inference and added ETree prototype code
2010-10-12 05:19:51 +00:00
fbdf9647f8
new test to drive elimination tree development
2010-10-12 00:15:26 +00:00
057050fa9f
renamed varid_t to Index
2010-10-11 21:14:35 +00:00
96eb939749
Fixed computing marginals in BayesTree
2010-10-11 16:02:01 +00:00
ccea5c79cb
unwhitened error in LinearApproxFactor now works
2010-10-11 04:47:57 +00:00
c92026884b
moved and enabled testKey, LinearApproxFactor creation/linearization works
2010-10-11 04:30:19 +00:00
c57c93a490
Re-enabled more constraints
2010-10-11 04:30:18 +00:00
45456aab8e
Fixed computing shortcuts in BayesTree
2010-10-10 03:10:03 +00:00
84d6b5be6a
Re-enabled computing marginals of a set of variables (Inference::Marginal(...))
2010-10-10 00:51:57 +00:00
07bda5aa97
Changed linear config names to *Values, updated comments
2010-10-09 03:09:58 +00:00
6002931e12
Renamed LieConfig and TupleConfig to use Values
2010-10-09 03:09:55 +00:00
1d52ff90a8
Merged simplelinear branch into trunk
2010-10-08 22:04:47 +00:00
f6ada87314
Removed LDL, ConstraintOptimizer things, and FusionTupleConfig. Added *.valgrind run commands so that tests can be checked for memory errors. Removed some extraneous stuff in configure.ac
2010-10-02 23:38:01 +00:00
5745226452
split LinearApproxFactor into an implementation header file
2010-09-22 15:34:03 +00:00
b09b7fffbb
Removed extraneous template parameter for LinearApproxFactor
2010-09-22 13:29:29 +00:00
3f937fdba4
changed include order to be more logical
2010-09-20 21:02:32 +00:00
55dedc97e3
Fixed include paths so that making individual unit tests works again
2010-09-11 16:54:50 +00:00
815d892806
Added TEST_UNSAFE to avoid exception checking in normal tests, as well as an assert_inequal() evaluation in TestableAssertions.h.
2010-08-30 20:54:12 +00:00
f594ebf562
Reworked testSerialization so that it works for geometry and simple planar objects. Currently only tested in boost 1.40, probably doesn't work under boost 1.44
2010-08-30 19:16:26 +00:00
a461680a2b
Removed extraneous headers that were causing problems related to boost serialization and added testSerialization with conditional compiling (--enable-serialization). Currently, the test is all commented out, and it should not affect those not using the flag.
2010-08-27 15:31:20 +00:00
23a30f8475
Removed remaining global lie functions on lie objects and configs, switched the Lie base class to a simple concept check function, fixed build script for examples. ISAM2 and MastSLAM verified as compiling.
2010-08-26 19:55:40 +00:00
eed13e48d2
Switched to using LieVectors for vector types. Still some problems with numericalDerivative that have been worked around, but other functionality is intact.
2010-08-24 17:26:56 +00:00
77eda5ab8c
In all nonlinear factors and configs, it is only necessary to specify a key with a typedef Value_t for the associated value. This has been removed from factor template definitions, as it is too easy to use the wrong value. Also, no more string keys or linear symbol keys in nonlinear systems. Updated MastSLAM to work, and ISAM2 works without change
2010-08-23 19:44:17 +00:00
5350f368cd
Removing binary
2010-08-23 03:44:25 +00:00
e0da1971fa
fixed ROS packages due to gtsam changes
2010-08-23 00:19:57 +00:00
458cc52fff
Switched geometry to use primarily member functions for calculations with optional derivatives, so there are no more optional derivative functions. Also split Vector specializations for Lie into gtsam/base/LieVector.h which will later change into a real wrapper function. Specialized numericalDerivative to allow for functions to return doubles. Projects ISAM2, MastSLAM updated.
2010-08-22 21:45:53 +00:00
c2d46ce8b3
Script to time the overhead of breaking up a problem into many factors (mimics a linear latent-variable model)
2010-08-21 17:54:59 +00:00
256697d345
Moved transform_[to|from] and [un]rotate to be static functions in classes
2010-08-20 21:47:30 +00:00
f1132359d4
Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs)
2010-08-19 17:23:19 +00:00
30c3f46b52
FusionTupleConfigs work correctly for optimization
2010-08-16 19:19:50 +00:00
977155d133
Added simpler interfaces for FusionTupleConfig for 1,2, and 3 variable types
2010-08-15 21:35:03 +00:00
a2fecf51c9
FusionTupleConfig is now a full config
2010-08-14 21:15:45 +00:00
f3ccfaf100
Added dummy initialization of LieConfigs from arbitrary other LieConfigs, FusionTupleConfigs can now be created from arbitrary other FusionConfigs.
2010-08-13 19:51:04 +00:00
f6dbee41d2
More of FusionTupleConfig works
2010-08-13 14:55:26 +00:00
c2a83759cb
Added experimental replacement for TupleConfig using boost.fusion - this should eventually make it possible to make nonlinear factors interchangable regardless of config type.
2010-08-12 15:23:03 +00:00
3fd36bca53
Added TupleConfig1 wrapper
2010-08-12 12:44:36 +00:00
5991d1edfd
Added a nonlinear factor to approximate a linear factor from MastSLAM
2010-08-10 16:59:22 +00:00
1c72d92365
Moved TransformConstraint into gtsam, cleaned up includes
2010-08-10 14:30:41 +00:00
4f9a60d41c
Nonlinear bounding constraints are now working for simple examples. Also, removed extraneous constraint test files.
2010-08-09 21:59:29 +00:00
efaca162cf
Added tests for nonlinear equality constraints, generalized equality constraints
2010-08-09 17:21:11 +00:00
38ea7d1ea5
Added more static optimization helper functions - can now just call optimizeLM(graph,config) or optimizeGN(graph,config) to get an optimized config.
2010-08-09 17:20:03 +00:00
0316a53f79
Removed spurious "using namespace noiseModel"
2010-08-08 03:10:29 +00:00
5ada49ea3a
Moved remaining equality constraint tests to testNonlinearEqualityConstraint. Added NonlinearEquality2, a binary constraint expressing exact equality between variables.
2010-08-06 20:07:55 +00:00
a55860eb1d
Reimplemented nonlinear constraints to remove the old dependency on using boost function pointers and allow for inequality and bounding constraints. Added simple equality constraints in simulated2D and new set of tests. Removed/disabled old tests until they can be worked into new structure.
2010-08-06 18:30:07 +00:00
7e3442286e
Added a Gauss-Newton static function for nonlinear optimization
2010-08-06 15:10:19 +00:00
3dfbb26bc7
Added new test structures that allow for nonfatal assertions: EXPECT, EXPECT_DOUBLES_EQUAL, EXPECT_LONGS_EQUAL. Use these to check several unrelated conditions in a test. testTupleConfig was updated to make use of the new test structures.
2010-08-06 14:23:12 +00:00
7c2ad06016
Added clear() and empty() to TupleConfig
2010-07-30 16:19:52 +00:00
d6157ab828
Added a static nonlinear optimization function that uses default ordering and thresholds and returns an updated config.
2010-07-22 21:17:02 +00:00
cf2b3db5a6
Added CHECK_EXCEPTION() that can test whether an operation throws a specific exception, and used it in example tests
2010-07-20 14:51:00 +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
230e124e68
Small changes to handle non out of source builds and makefile fixes.
2010-07-17 01:13:03 +00:00
3438f89526
Removed the ldl library and added in a configure flag --enable-ldl to pull in ldl. Currently, it's probably a bad idea to actually use ldl, however, and nothing important is effected by its absense.
2010-07-16 18:16:18 +00:00
b5c0f3cee8
Simplified Cluster class, elimination tree constructors tested, junction tree tests disabled for now.
2010-07-14 23:48:51 +00:00
20b09e5383
Re-organized FactorGraph, and de-templatized findAndRemoveFactors
2010-07-14 13:55:32 +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
f67220773a
split JunctionTree to GaussianJunctionTree
2010-07-12 21:34:03 +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
80149afc30
delete Makefile.ins
2010-07-12 07:48:26 +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
Richard Roberts
Alex Cunningham
Duy-Nguyen Ta
Yong-Dian Jian
Chris Beall
Frank Dellaert
Stephen Williams
bpeasle
Manohar Paluri
Kai Ni