92c9e9c0aa
Fixed "unused" warnings
2014-05-03 12:23:49 -04:00
1ed07ca4ed
Moved to unstable
2014-05-03 12:23:20 -04:00
a6d73e8884
improved efficiency of diagonal damping (avoiding multiple traversal of binary tree)
2014-03-13 22:43:51 -04:00
e65ddf4d87
cleaned up LM with Richard, before merge
2014-03-12 14:24:15 -04:00
6f692b1547
Merge branch 'develop'
...
Conflicts:
gtsam/base/SymmetricBlockMatrix.cpp
gtsam/linear/JacobianFactor-inl.h
gtsam_unstable/geometry/tests/testTriangulation.cpp
2014-03-12 12:57:59 -04:00
49a1b7abca
partially fixed unit test on LM
2014-02-25 21:09:05 -05:00
1770f44ad9
Fixed a number of clang warnings
2014-02-23 18:53:48 -05:00
fdd891c7c9
Fixed left-over "ordered" test factor in testExtendedKalmanFilter.cpp
2014-02-23 18:52:57 -05:00
7192bd2f79
Removed namespace-functions for ISAM2 optimize* and gradient*, these were only there to try to maintain a consistent interface for linear but really were not correct anyway since ISAM2 is a nonlinear object. They instead caused confusion and made the code complicated since they used a complicated system for updating and caching various components that go into calculating the solution. Replaced all this with much simpler code directly inside updateDelta, which uses clearly-defined functions in the ISAM2::Impl class to calculate the components that go into the solution. Also removed the redundant deltaUpToDate flags - now just checks whether deltaReplacedMask is empty.
2014-02-22 16:46:38 -05:00
a0bc4b0a5a
added 1 more unit test: delta is perpendicular to gradient of original system
2014-02-20 12:35:07 -05:00
dec6430d9b
1 more test: a small step in delta direction does not decrease error
2014-02-20 12:22:12 -05:00
541dbd5199
Plot thickens: delta computed from damped system points downhill but non-linear error does not decrease
2014-02-20 09:02:24 -05:00
33ae83fcb2
Much more extensive testing of diagonal policy with Luca over Skype - gets stuck in a non-minimum !!!
2014-02-20 00:28:15 -05:00
c05eaa0d22
fixed unit test
2014-02-16 17:11:58 -05:00
9279d4402f
identifying convergence issue in diagonal hessian LM
2014-02-16 16:19:20 -05:00
17e2221395
New test showing diagonal damping currently broken.
2014-02-16 11:58:13 -05:00
661a157553
Working on standardizing/simplifying building unit tests and examples. Much simpler cmake function to add a glob of tests, doing away with convenience libraries, and removing other options that we never change from their defaults.
2014-02-13 01:34:31 -05:00
4b8c17ec77
Changed target name to 'gtsam' instead of 'gtsam-shared' and 'gtsam-static'. Modified CMake options to only allow building either static or shared, but not both. Enabled GTSAM_BUILD_TYPE_POSTFIXES by default on all platforms.
2014-01-30 14:41:25 -05:00
8c4aa2b9a6
remove all LieMatrix(sizt_t m, ...), which also has dangerous behavior
2014-01-23 18:46:01 -05:00
96296333ae
remove all LieVector(size_t m, ...), which doesn't check parameter's type and it's also dangerous
2014-01-23 18:35:29 -05:00
b36574f77a
remove all Vector_() definition and declaration
2014-01-23 02:51:05 -05:00
97ebfbb1f0
fix Vector_() remained
2014-01-23 02:16:36 -05:00
8641816b21
fix Vector_() in gtsam_unstable and tests
2014-01-23 02:03:12 -05:00
686051c032
Convert DOS line endings to UNIX
2014-01-09 16:39:27 -05:00
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
6c2077ccc5
Updated unit tests for clique finding fix
2013-11-19 00:26:18 +00:00
fa5d08d9a6
Option to reuse old factor slots in ISAM2
2013-11-18 19:23:09 +00:00
2896a45d1f
Fix Matrix_(...) to Mat() <<...
2013-11-13 06:08:59 +00:00
05467e4774
Fix Matrix_(...) to Mat() <<... in tests
2013-11-13 06:02:35 +00:00
ec78d54f37
Removed old Index typedef and IndexFormatter
2013-11-08 16:35:28 +00:00
855e2aa18c
Logging works, see testNonlinearOptimizer.cpp
2013-10-30 15:40:22 +00:00
3c33e44c46
Fixed compile errors on windows
2013-10-29 04:24:14 +00:00
def9b84e45
Added virtual solve method to NonlinearOptimizer that you can override, e.g., with Ceres
...
See example in testNonlinearOptimizer
As part of this, I also merged SuccessiveLinearizationParams into NonlinearOptimizerParams, which is now in its own separate file NonlinearOptimizerParams.h
2013-10-25 18:27:43 +00:00
181881a8d7
Fix Vector_() to Vec() in tests
2013-10-22 03:56:51 +00:00
3c68d20ff2
Fixed calculate_nnz and added unit test
2013-10-03 16:50:20 +00:00
2b78eb8bec
Restored NonlinearFactorGraph::symbolic() and made a few other minor fixes.
2013-09-17 03:13:32 +00:00
bbb6ff90fd
Added tests and updated comments regarding using disconnected systems
2013-09-09 16:59:04 +00:00
06548ec8a9
Fixed bug in marginals introduced with unordered and modified a unit test to catch it.
2013-08-26 23:05:17 +00:00
c6cf4d2dab
Removed use of convenience libraries for tests - wasn't really supported in current version
2013-08-19 15:32:21 +00:00
4b12d6f794
Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization
2013-08-19 15:32:16 +00:00
0f3732d7f5
Moved summarization back to MastSLAM - functionality largely replaced with newer elimination functionality
2013-08-16 16:32:20 +00:00
0b58b0166a
Fixed errors and warnings on linux
2013-08-12 21:32:51 +00:00
6410205e78
Fixed warnings
2013-08-11 18:18:06 +00:00
3c8d482271
Reenabled dogleg unit tests and moved relevant parts to other test files
2013-08-11 18:17:32 +00:00
f1fb9374c9
Merged from branch 'branches/unordered-isam2'
2013-08-11 00:57:54 +00:00
4e2f2c3822
Changed public back to protected
2013-08-11 00:40:12 +00:00
3228895c26
Fixed ISAM(2) unit tests
2013-08-11 00:40:04 +00:00
63e89656d2
Temporary debugging for marginalizeLeaves
2013-08-10 15:52:00 +00:00
789f2bee97
ISAM2 compiling and fixed several issues but still some unit tests failing
2013-08-09 21:35:47 +00:00
9a10242e96
Fixed warnings
2013-08-09 21:35:42 +00:00
dellaert
Luca
Richard Roberts
jing
Jing Dong
Frank Dellaert
Alex Cunningham