Commit Graph

11 Commits (0bb661e84777631bb0e57410ddc0943fb3b2e9f8)

Author SHA1 Message Date
Frank Dellaert ae073c0120 Comments, and better test of composePoses 2010-01-27 02:49:58 +00:00
Frank Dellaert e523b148cf Moved tree stuff to graph, removed ordering-inl.h 2010-01-18 19:11:22 +00:00
Frank Dellaert a4a6e002e5 NOISE MODEL.
This is a big edit but with no templates involed, so it should not be a big deal.

New namespace gtsam::noiseModel collects all noise models, which provide efficient whitening and chain-rule implementation needed for optimization. The class hierarchy gives us the ability to use models from full covariances to i.i.d. unit variance noise with a single interface, where the latter will be much cheaper. 

From now on, all non-linear factors take a shared_ptr to a Gaussian noise model. This is done through the parameter (const sharedGaussian& model). The use of a shared pointer allows us to share one noise models for thousands of factors, if applicable.

Just like Richard's Symbol change, there is a compile flag GTSAM_MAGIC_GAUSSIAN which allows you to use doubles, vectors, or matrices to created noise models on the fly. You have to set it to the correct dimension. Use of this is *not* encouraged and the flag will disappear after some good soul fixed all unit tests.
2010-01-18 05:38:53 +00:00
Richard Roberts aef0b42562 Refactoring to use a new Symbol key instead of strings in Bayes*, Gaussian*, Ordering, Symbolic*, VectorConfig. Renamed existing type-checking key Symbol<C,T> to TypedSymbol<C,T> 2010-01-17 19:34:57 +00:00
Frank Dellaert 049cea6964 3D Pose SLAM + removed obsolete Urban files that somehow re-appeared in CitySLAM 2010-01-16 19:37:17 +00:00
Frank Dellaert 99db4c37d8 2D Pose SLAM: created a new templated factor to accommodate GPS measurements, and as part of the refactor I consolidated all Pose2 SLAM classes in pose2SLAM.h. For backwards compatibility it contains
typedef pose2SLAM::Prior Pose2Prior;
	typedef pose2SLAM::Odometry Pose2Factor;
	typedef pose2SLAM::Constraint Pose2Constraint;
	typedef pose2SLAM::Config Pose2Config;
	typedef pose2SLAM::Graph Pose2Graph;
2010-01-16 18:01:16 +00:00
Frank Dellaert 53a03a0021 Changed signature of tree insert 2010-01-14 16:05:04 +00:00
Kai Ni 68d90772e6 ordering is fixed 2010-01-14 03:21:07 +00:00
Frank Dellaert 93465945e9 Large gtsam refactoring
To support faster development *and* better performance Richard and I pushed through a large refactoring of NonlinearFactors.

The following are the biggest changes:

1) NonLinearFactor1 and NonLinearFactor2 are now templated on Config, Key type, and X type, where X is the argument to the measurement function.

2) The measurement itself is no longer kept in the nonlinear factor. Instead, a derived class (see testVSLAMFactor, testNonlinearEquality, testPose3Factor etc...) has to implement a function to compute the errors, "evaluateErrors". Instead of (h(x)-z), it needs to return (z-h(x)), so Ax-b is an approximation of the error. IMPORTANT: evaluateErrors needs - if asked - *combine* the calculation of the function value h(x) and the derivatives dh(x)/dx. This was a major performance issue. To do this, boost::optional<Matrix&> arguments are provided, and tin EvaluateErrors you just  says something like

	if (H) *H = Matrix_(3,6,....);

3) We are no longer using int or strings for nonlinear factors. Instead, the preferred key type is now Symbol, defined in Key.h. This is both fast and cool: you can construct it from an int, and cast it to a strong. It also does type checking: a Symbol<Pose3,'x'> will not match a Symbol<Pose2,'x'>

4) minor: take a look at LieConfig.h: it help you avoid writing a lot of code bu automatically creating configs for a certain type. See e.g. Pose3Config.h. A "double" LieConfig is on the way - Thanks Richard and Manohar !
2010-01-13 22:25:03 +00:00
Kai Ni 2a094b7491 return shared_ptr in composePoses 2010-01-13 02:09:16 +00:00
Kai Ni 4369cd2d92 1) add a compose function that compose all the poses in a factor graph given the spanning tree
2) add a new graph-inl.h which takes care of all the boost graph related functions to prevent the copy and paste across several classes
2010-01-12 16:12:25 +00:00