0e6607d160
relinearization working, but currently applied to all variables
2010-01-18 22:37:44 +00:00
5e15564525
Speedups: Matrix mult. in Gaussian NoiseModel. Removed size check in operator* in Matrix.h - ublas does this check when in debug mode.
2010-01-18 21:45:44 +00:00
e935f1745e
stop copying matrices...
2010-01-18 21:17:25 +00:00
f8ef284b30
fixed bearing/range, large speedup for batch; incremental creation of Config works
2010-01-18 20:17:31 +00:00
1f0de30a62
Removed unnecessary headers, now only included when GTSAM_MAGIC_KEY is defined
2010-01-18 19:36:02 +00:00
e523b148cf
Moved tree stuff to graph, removed ordering-inl.h
2010-01-18 19:11:22 +00:00
8e3a8f08c8
incremental processing of planarSLAM; bug fix in ISAM2-inl
2010-01-18 18:13:53 +00:00
dfeacb218e
Added tests for Keys, Added TypedLabeledSymbol class to allow for runtime symbols on keys
2010-01-18 16:18:02 +00:00
bbf6cabe9d
generate ordering and pose config in the initialization stage
2010-01-18 09:24:38 +00:00
18414b1286
VectorConfig/Config confusion resolved; planarSLAM integrated
2010-01-18 08:05:33 +00:00
eb3e0067ef
simplify covariance formulation
2010-01-18 07:11:34 +00:00
6a163d1a84
fix compilation error caused by new covariance type
2010-01-18 06:17:01 +00:00
05b07d443e
add linear system solver as a template class parameter in nonlinear optimizer.
2010-01-18 05:51:19 +00:00
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
6b2190159d
restored lost changes
2010-01-18 04:53:17 +00:00
42f4ff228b
code cleanup, recovering estimate while dealing with incremental adding of factors, planar with new SLAM
2010-01-18 04:32:45 +00:00
9ac1622514
Removed obsolete files that reappeared after svn crash
2010-01-18 03:00:00 +00:00
149e6cef36
Added an explicit instantiation to fix a link error that was only detected on Linux
2010-01-18 02:23:10 +00:00
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
ea14959835
NoiseModel inhertance structure reversed, all constructors protected, new static "factories"
2010-01-17 17:47:23 +00:00
87f7e05c15
Identity model
2010-01-17 15:10:10 +00:00
5c6cfec7ab
restored reset
2010-01-17 15:09:28 +00:00
80b3813a16
binary files should not be in repository
2010-01-17 06:09:25 +00:00
fbe425b966
relinearizing part of a BayesTree, requiring caching of intermediate results during elimination
2010-01-17 06:06:20 +00:00
a3fa194ca1
Noisemodel works in PriorFactor
2010-01-17 03:56:42 +00:00
8967027198
Testing R and Whiten
2010-01-17 03:29:23 +00:00
9ddeb569b5
GaussianNoiseModel
2010-01-17 01:28:15 +00:00
3a83e0678d
KISS refactor of NoiseModel
2010-01-17 00:37:34 +00:00
4518069218
2010-01-17 00:35:49 +00:00
09d2cb9101
added numericalDerivative.h to headers
2010-01-16 23:10:38 +00:00
0e17310e23
remove the printf
2010-01-16 22:56:57 +00:00
2174057578
Commented out another NoiseModel unit test
2010-01-16 20:40:47 +00:00
e4eaa22378
Comment out unit test for broken function only used in NoiseModel, working on fixing
2010-01-16 20:18:45 +00:00
049cea6964
3D Pose SLAM + removed obsolete Urban files that somehow re-appeared in CitySLAM
2010-01-16 19:37:17 +00:00
c051be9edf
did not compile
2010-01-16 19:35:50 +00:00
6714ba59f4
delete binary file testPose2Prior
2010-01-16 19:09:13 +00:00
f0ae2c064e
Merging in NoiseModel, not yet used though
2010-01-16 18:39:39 +00:00
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
3c9c8bcfe5
Pose2Prior is now a typedef, improved some derivatives
2010-01-16 16:46:57 +00:00
4914091c87
Pose2Prior test
2010-01-16 15:39:39 +00:00
2605d18152
removed obsolete tests
2010-01-16 14:59:22 +00:00
b0f27c5d4b
set sigma to 1 in pose2prior
2010-01-16 07:50:14 +00:00
a4d61d2f23
Little performance twiddles that make little difference
2010-01-16 07:22:34 +00:00
a8afe0da7c
Forgot pre-multiply of error vector
2010-01-16 07:00:07 +00:00
91a0fb23df
Weighted pseudo-inverse now takes weights (1/sigma^2). Does not make a lot of performance difference.
2010-01-16 06:25:11 +00:00
fce2a668bb
uncomment the commented out unit tests during debugging
2010-01-16 05:10:07 +00:00
f5a6a10feb
debug hard constraint and make pose2prior work
2010-01-16 05:08:29 +00:00
fb3e38b161
25% performance increase by improving weighted_eliminate
2010-01-16 04:57:58 +00:00
26246188af
Added planar graph to timing script
2010-01-16 04:46:35 +00:00
a4ed0a191d
Forgotten header numericalDerivative.h
2010-01-16 04:22:41 +00:00
Michael Kaess
Richard Roberts
Frank Dellaert
Alex Cunningham
Kai Ni
Manohar Paluri