Richard Roberts
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ca16f341f9
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Changed badscale to a more reasonable value in Cholesky scaling test
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2012-11-26 19:21:13 +00:00 |
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Richard Roberts
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0755e6a32e
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Cleaned up, fixed some broken unit tests
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2012-11-26 19:21:11 +00:00 |
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Richard Roberts
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f142758ec8
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Fix to allow eliminating variable that doesn't exist using FactorGraph eliminate(One)
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2012-11-26 19:21:09 +00:00 |
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Richard Roberts
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8ca71f833d
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Fix in VectorValues::hasSameStructure
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2012-11-26 19:21:07 +00:00 |
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Richard Roberts
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1755136b1b
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Added JacobianFactor constructor from a GFG that merges the factors
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2012-11-26 19:21:05 +00:00 |
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Richard Roberts
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3d331abb4b
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Tweaked out-of-range check in VerticalBlockView to allow retrieving empty range
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2012-11-26 19:21:03 +00:00 |
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Richard Roberts
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a5ab9ca32d
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Made FactorGraph eliminate functions const
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2012-11-26 19:21:00 +00:00 |
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Richard Roberts
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60f29fde15
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MATLAB tests for Cholesky scaling and preconditioning
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2012-11-23 23:24:58 +00:00 |
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Richard Roberts
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a6df33b15f
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Added missing Levenberg-Marquardt verbosity printout for "LAMBDA" verbosity
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2012-11-23 23:24:55 +00:00 |
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Richard Roberts
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5b9271cb97
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VV work
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2012-11-23 23:22:53 +00:00 |
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Richard Roberts
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06f836c0a7
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Using vector instead of deque in VariableIndex, BayesTree::Nodes, and GaussianISAM::Dims. In practice it appears to be faster due to smart reallocation strategies (still need to investigate whether we should use reserve, resize, or neither).
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2012-11-23 23:22:46 +00:00 |
Alex Cunningham
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237da8b3a7
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Moved LinearContainerFactor to gtsam/nonlinear and removed the now-redundant LinearizedFactor from gtsam_unstable
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2012-11-21 19:41:24 +00:00 |
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Alex Cunningham
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cba120c96d
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LinearContainerFactor now includes ability to "relinearize" when supplied with an original linearization point
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2012-11-21 19:02:13 +00:00 |
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Alex Cunningham
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69ea8c8b77
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Added assertion to catch size mismatches
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2012-11-21 19:02:12 +00:00 |
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Alex Cunningham
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a2e36d66df
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Renamed VectorValues::subvalues() to VectorValues::values(indices) to better fit conventions
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2012-11-21 19:02:11 +00:00 |
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Alex Cunningham
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b4460850c6
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Added tests for error() in linear factors for case when the VectorValues has more values than a factor does. Added subvector() to VectorValues to isolate a particular set of indices for use in HessianFactor::error().
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2012-11-21 19:02:09 +00:00 |
Frank Dellaert
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3a075208a1
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wrapped allPose3s, pop methods in KeyList
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2012-11-17 19:24:39 +00:00 |
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Frank Dellaert
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583cdacc11
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new allPose3s function
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2012-11-17 19:24:09 +00:00 |
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Frank Dellaert
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afa6a1020d
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rendered pdf
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2012-11-17 16:04:47 +00:00 |
Yong-Dian Jian
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e5dc2b86b2
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add timing statements for colamd
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2012-11-16 22:59:57 +00:00 |
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Frank Dellaert
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539f32ad66
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Small typos
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2012-11-15 20:07:11 +00:00 |
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Richard Roberts
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f2a7ccae2d
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Automatically searching for 'mex' in common MATLAB paths
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2012-11-14 00:55:33 +00:00 |
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Richard Roberts
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aba48e4492
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Commented out serialization in timeIncremental
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2012-11-14 00:55:31 +00:00 |
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Frank Dellaert
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dec1774923
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Fixed rather embarassing bug in EQUALITY, with Natesh
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2012-11-12 21:40:13 +00:00 |
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Richard Roberts
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69c5c9f1ca
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Upgraded to Eigen 3.1.2 and updated README and LICENSE files
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2012-11-11 22:25:52 +00:00 |
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Richard Roberts
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713cdebc27
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Created branch /branches/isam2-chain-optimization from /trunk:14223
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2012-11-11 20:51:19 +00:00 |
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Richard Roberts
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0c3761a2a9
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Reverted r14178, r14179, r14195, r14196 (isam2 chain optimizations) to move them to a branch
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2012-11-11 20:51:03 +00:00 |
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Yong-Dian Jian
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43778a6ed3
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--update the distance() of robust noise model
--add a nonlinear optimization unit test using robust noise model
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2012-11-06 22:42:01 +00:00 |
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Richard Roberts
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43f08ce806
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Increased chain length in timeiSAM2Chain
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2012-11-05 01:04:16 +00:00 |
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Richard Roberts
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7ceab5b4a2
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Removed 'permuteSeparatorWithInverse' from MATLAB wrapper
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2012-11-05 01:04:14 +00:00 |
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Richard Roberts
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999e2ba577
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Added 'NonlinearFactorGraph::saveGraph' for writing factor graphs in graphviz format.
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2012-11-03 21:11:01 +00:00 |
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Richard Roberts
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4512e4c85d
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Some usage (still more to do) of sparse and partial permutations in iSAM2 partial reordering to improve asymptotic performance.
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2012-11-03 21:10:58 +00:00 |
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Richard Roberts
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10f69cfca0
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Added timing test for a long chain in iSAM2
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2012-11-02 22:07:30 +00:00 |
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Richard Roberts
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2e856f5260
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Added tictoc_getNode function to timing to retrieve a node to access its times programmatically
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2012-11-02 22:07:28 +00:00 |
Stephen Williams
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65a28b751d
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Added optional sensor to body transformation in the stereo factor
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2012-11-01 15:38:59 +00:00 |
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Richard Roberts
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46c1d0c512
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Added joint marginal timing to timeIncremental script
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2012-10-31 22:27:36 +00:00 |
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Richard Roberts
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caa031f733
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Reducing variable indices in computing joint marginals
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2012-10-31 22:27:33 +00:00 |
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Richard Roberts
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00b12c7dc1
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Added simple matrix-math eliminate and shortcut functions, and a simple matrix-math test of the feasibility of correcting root shortcut joint marginals.
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2012-10-29 15:52:02 +00:00 |
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Alex Cunningham
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c3f38349b4
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Fixed include paths for matlab modules
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2012-10-28 20:48:17 +00:00 |
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Richard Roberts
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cb5f186031
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Two more patches after last checkin - removed numCachedShortcuts from MATLAB wrapper, and added EliminateQR as default argument to GaussianFactorGraph eliminate functions
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2012-10-28 06:43:05 +00:00 |
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Richard Roberts
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b3ba46241c
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Missing typename
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2012-10-28 06:37:57 +00:00 |
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Richard Roberts
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4d4e17c2a7
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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.
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2012-10-28 06:21:21 +00:00 |
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Richard Roberts
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279738c56f
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Renamed unit tests to match file name
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2012-10-28 06:21:17 +00:00 |
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Richard Roberts
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600fcd027d
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Moved wrapper functions to header file to clean up code
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2012-10-28 06:21:15 +00:00 |
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Richard Roberts
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c251487baf
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Wrapped GaussianMultifrontalSolver
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2012-10-27 19:45:30 +00:00 |
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Richard Roberts
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24111423d7
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Made specific eliminate and eliminateOne methods for SymbolicFactorGraph and GaussianFactorGraph and made them accessible from MATLAB
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2012-10-27 19:45:28 +00:00 |
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Richard Roberts
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920bb52453
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Moved eliminate and eliminateOne from inference to FactorGraph
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2012-10-22 17:49:41 +00:00 |
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Stephen Williams
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f9494679d2
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Added optional derivatives to 'inverse' and 'compose' for variable type 'PoseRTV'
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2012-10-22 17:31:41 +00:00 |
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Stephen Williams
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227f9c1620
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Added optional sensor to body transformation to the range factor (and unit tests)
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2012-10-21 22:34:56 +00:00 |
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Stephen Williams
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857b0d0d8c
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Added optional derivatives to compose, between, and inverse for the two camera types
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2012-10-21 22:32:16 +00:00 |