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494 Commits (0704e8219023bb4bc28f13a095951de8e741519c)

Author SHA1 Message Date
Alex Cunningham 073ea4fa0f Re-enabled summarization test/implementation. Sequential versions re-implemented, but tests don't pass 2013-08-09 19:59:14 +00:00
Richard Roberts 375f7c16e6 Working on fixing ISAM 2013-08-06 19:56:48 +00:00
Richard Roberts 89310ceb09 Syntax 2013-08-06 19:56:45 +00:00
Richard Roberts 2d60d2cdfa Fixed more unit tests 2013-08-06 18:04:40 +00:00
Richard Roberts 18b71ef110 Fixed some unit tests 2013-08-06 18:04:37 +00:00
Richard Roberts 49e93a71b0 No noise model in smallExample 2013-08-06 18:04:36 +00:00
Richard Roberts e1991ff49c Fixed warnings 2013-08-06 17:36:05 +00:00
Richard Roberts 3fbc0c739f Fix in testGaussianBayesTree 2013-08-06 16:18:09 +00:00
Richard Roberts 77f0f0f5f6 Disabled testSerializationSLAM for the time being 2013-08-06 16:10:13 +00:00
Richard Roberts 5692fb5e98 Fixed HessianFactor combining into dense factor with ordering 2013-08-06 13:44:50 +00:00
Richard Roberts e39d100b6a Made most global unit tests compile, includes dogleg, iterative, kalman filter, etc 2013-08-06 13:44:22 +00:00
Richard Roberts ede0805fac Global find+replace to remove Ordered 2013-08-05 22:31:44 +00:00
Richard Roberts cb7eb1b510 Find+replace Ordered headers 2013-08-05 22:31:33 +00:00
Richard Roberts 90b1349f23 Made NonlinearConjugateGradientOptimizer compile 2013-08-05 22:31:22 +00:00
Richard Roberts 55ce9eed1d Updated smallExample 2013-08-05 22:31:21 +00:00
Richard Roberts ac0f108106 Removed redundant test 2013-08-05 22:31:15 +00:00
Richard Roberts 4db55a3a6a Removed 2 more ordered files 2013-08-02 22:09:46 +00:00
Richard Roberts be0b27a003 Removed obsolete Ordered classes and unit tests that have already been converted 2013-08-02 22:09:40 +00:00
Richard Roberts 98623f9068 Adapted timeIncremental to work with landmarks 2013-07-30 14:32:11 +00:00
Richard Roberts 69a9d75dd6 Converting smallExample and GaussianISAM 2013-07-30 02:11:34 +00:00
Richard Roberts 3ade190128 Renamed old classes to "Ordered" and removed "Unordered" name from new classes 2013-07-29 23:55:40 +00:00
Richard Roberts b857dab6a9 Renamed unit tests already converted to 'Obsolete' 2013-07-17 03:13:00 +00:00
Richard Roberts d7767188b3 Merged from branch 'trunk' 2013-07-01 13:11:15 +00:00
Richard Roberts 77a1e9a485 Added ISAM2::marginalCovariance function. 2013-06-29 02:19:03 +00:00
Richard Roberts 123657e3d0 Merged from branch 'trunk' 2013-06-24 15:28:16 +00:00
Richard Roberts 14a71aeedc Put header-implemented unit test functions in anonymous namespaces to avoid duplicate symbols in SINGLE_TEST_EXE mode 2013-06-20 16:05:24 +00:00
Richard Roberts 8f4688fd5b Compiling serialization unit tests with /bigobj on windows 2013-06-20 16:05:21 +00:00
Richard Roberts 400e20420c Adding headers to list of sources in top-level unit tests so that they show up in visual studio 2013-06-20 16:05:20 +00:00
Richard Roberts 8f9d5ec2e2 Merge branch 'trunk' 2013-06-17 21:15:57 +00:00
Alex Cunningham 19f7da62dd Refactored existing serialization functionality, added exposed interface for serialization 2013-06-12 19:30:20 +00:00
Alex Cunningham 2196953188 Removed reference to nonexistant test_lib 2013-06-11 20:26:34 +00:00
Alex Cunningham 0c7182b713 Removed unnecessary using statements 2013-06-11 14:36:50 +00:00
Alex Cunningham 37f936d41c Cleanup, whitespace 2013-06-11 14:36:50 +00:00
Alex Cunningham 7b79cfc38c Removed all non-test/timing cpp files from tests folder, small example now is header-only 2013-06-11 14:35:22 +00:00
Richard Roberts d5e721a1d0 Continued work on unordered classes and elimination algorithm 2013-06-06 15:36:11 +00:00
Alex Cunningham 9c61d15fb1 Caught corner case in summarization causing ccolamd to segfault 2013-05-23 18:12:00 +00:00
Frank Dellaert d05560687b Avoid segfault on linking 2013-05-20 22:23:04 +00:00
Stephen Williams 07c4c95f18 Added serialization unit tests for binary files 2013-05-08 13:23:46 +00:00
Alex Cunningham 4e0dbbc2b1 Added tests for each summarization mode 2013-05-08 10:14:19 +00:00
Alex Cunningham c74de0136c Changed interface to allow for different modes 2013-05-08 10:14:10 +00:00
Alex Cunningham acd6e629e8 Moved older functions back to gtsam_unstable, cleanup. All tests pass. Rearranged summarization wrap interfaces. 2013-05-08 10:13:57 +00:00
Alex Cunningham 81f63bcc0e Rearranging summarization, now with unit test in gtsam 2013-05-08 10:11:45 +00:00
Richard Roberts 547323cc79 Fixed a bunch of compiler warnings 2013-04-05 21:34:04 +00:00
Richard Roberts f773a34834 Renamed experimentalMarginalizeLeaves to marginalizeLeaves and added comment 2013-03-26 20:46:08 +00:00
Richard Roberts e2aca2039e Further fix in iSAM2 marginalization 2013-03-20 13:48:16 +00:00
Richard Roberts 596c5cdae8 Revamped ISAM2::marginalizeLeaves again, more tree algorithm instead of relying on sorted keys, hopefully correct this time. 2013-03-18 19:28:02 +00:00
Richard Roberts 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
Richard Roberts 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
Richard Roberts 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
Alex Cunningham 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
Duy-Nguyen Ta 6eafc9420e update namespace mEstimator for unittests 2013-02-08 00:47:52 +00:00
Richard Roberts 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
Richard Roberts c42bccbb3e Increased chain length in timeiSAM2Chain 2012-12-18 14:21:49 +00:00
Richard Roberts 4e7393cc08 Added timing test for a long chain in iSAM2 2012-12-18 14:21:12 +00:00
Richard Roberts 7309aa0ffa Unit tests pass with piecewise VectorValues implementation (for fast permutations) 2012-12-18 14:21:02 +00:00
Richard Roberts 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
Richard Roberts 5b9271cb97 VV work 2012-11-23 23:22:53 +00:00
Richard Roberts aba48e4492 Commented out serialization in timeIncremental 2012-11-14 00:55:31 +00:00
Richard Roberts 0c3761a2a9 Reverted r14178, r14179, r14195, r14196 (isam2 chain optimizations) to move them to a branch 2012-11-11 20:51:03 +00:00
Yong-Dian Jian 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
Richard Roberts 43f08ce806 Increased chain length in timeiSAM2Chain 2012-11-05 01:04:16 +00:00
Richard Roberts 10f69cfca0 Added timing test for a long chain in iSAM2 2012-11-02 22:07:30 +00:00
Richard Roberts 46c1d0c512 Added joint marginal timing to timeIncremental script 2012-10-31 22:27:36 +00:00
Richard Roberts 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
Richard Roberts 279738c56f Renamed unit tests to match file name 2012-10-28 06:21:17 +00:00
Richard Roberts 920bb52453 Moved eliminate and eliminateOne from inference to FactorGraph 2012-10-22 17:49:41 +00:00
Richard Roberts 656080ad2f Fixed warning 2012-10-08 23:58:57 +00:00
Richard Roberts 3218a7bca4 Added missing main function 2012-10-08 23:03:02 +00:00
Richard Roberts 9793f8b7f7 Finalized batch and incremental timing scripts 2012-10-08 22:40:47 +00:00
Richard Roberts f3a2887af1 Moved GaussianBayesTree tests into their own file, out of testGaussianISAM 2012-10-08 22:40:40 +00:00
Richard Roberts b60189104c Added checks for proper noise model dimension 2012-10-05 23:23:40 +00:00
Alex Cunningham 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
Richard Roberts 89b50e7679 Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc 2012-10-02 20:18:41 +00:00
Richard Roberts c44f8f7f80 Fixed examples from timing statement change (missed) 2012-10-02 18:49:48 +00:00
Richard Roberts 4876cc7ff7 Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list) 2012-10-02 18:36:39 +00:00
Chris Beall 4297d24c96 changed tabs to spaces for consistent indentation in all of GTSAM 2012-10-02 14:40:07 +00:00
Richard Roberts 96ce28625b Timing marginals in timeIncremental 2012-10-01 16:12:43 +00:00
Richard Roberts 784e9f5755 Added overall timing scripts for batch and incremental (ISAM2) solving 2012-09-28 17:48:49 +00:00
Frank Dellaert 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
Frank Dellaert 89cd600165 avoid warnings 2012-09-16 17:54:43 +00:00
Frank Dellaert 7266293a61 Cleaned up some remaining JacobinaFactorGraph remnants 2012-09-05 03:52:01 +00:00
Frank Dellaert c4c5dec9a3 Fixed testIterative unit tests 2012-09-05 03:06:22 +00:00
Richard Roberts 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
Frank Dellaert c55f4be0d1 Comments added 2012-09-04 22:20:40 +00:00
Richard Roberts 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
Richard Roberts abd07e553e Made new global functions in unit tests static to avoid duplicate symbols 2012-09-04 15:05:55 +00:00
Yong-Dian Jian af652b0e04 remove simpleSPCG 
reorg SubgraphSolver
add unit test for SubgraphSolver
 2012-09-03 19:43:08 +00:00
Richard Roberts 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
Frank Dellaert 35d188e36d Moved testIterative.cpp back to GTSAM, made the first test compile/run 2012-09-03 18:01:24 +00:00
Richard Roberts b6150bd27e Removed deprecated unit tests from testGaussianFactorGraphB and moved SPCG-specific ones to testGraph and testJacobianFactorGraph 2012-09-03 18:00:26 +00:00
Frank Dellaert ab7594e8f0 Made SPCG unit tests compile again, needed several fixes in iterative.h 2012-09-03 00:06:13 +00:00
Richard Roberts 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
Richard Roberts af48d086ed Fixed missing renames 2012-07-27 19:15:58 +00:00
Richard Roberts 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
Stephen Williams 7fc6a622bf Added additional factors to the serialization unit test 2012-07-25 22:13:22 +00:00
Yong-Dian Jian 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
Stephen Williams 592fa95d66 Fixed serialization for LieVector and LieMatrix 2012-07-24 14:50:01 +00:00
Stephen Williams 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
Stephen Williams 01bcd9e939 Removed SLAM namespace from testNonlinearOptimizer 2012-07-23 22:47:31 +00:00
Stephen Williams 7a0030070c Removed SLAM namespace from testNonlinearISAM 2012-07-23 22:46:55 +00:00