Frank Dellaert
|
46a65d89df
|
using ediv_ where needed
|
2009-12-31 10:30:06 +00:00 |
|
Frank Dellaert
|
f7d5b517a4
|
ediv_ is same as ediv except returns 0 for 0/0 division, needed for dealing with constraints
|
2009-12-31 10:29:25 +00:00 |
|
Frank Dellaert
|
3fbc857a9e
|
fixed behavior of error for sigma==0
|
2009-12-31 10:28:43 +00:00 |
|
Frank Dellaert
|
9b327d1a9d
|
added reset
|
2009-12-31 10:27:39 +00:00 |
|
Frank Dellaert
|
bf85f10de7
|
subtraction
|
2009-12-31 10:27:16 +00:00 |
Michael Kaess
|
b4e65e9631
|
progress in ISAM2, but unit test still disabled
|
2009-12-31 05:35:08 +00:00 |
Richard Roberts
|
afc3028ad5
|
Fixed bug in testPose2Factor optimize unit test where only the first expected value was checked.
|
2009-12-30 18:41:33 +00:00 |
|
Frank Dellaert
|
793a9d58ae
|
Errors is now a list
|
2009-12-30 17:13:36 +00:00 |
|
Frank Dellaert
|
f80ac5d7d5
|
backSubstitute functions (unit-tested in CitySLAM) for preconditioning
|
2009-12-30 17:13:24 +00:00 |
|
Frank Dellaert
|
2368f3605a
|
getReference
|
2009-12-30 14:53:40 +00:00 |
|
Frank Dellaert
|
15bb00683a
|
transpose backsubstitute on upper-triangular matrix
|
2009-12-30 13:20:16 +00:00 |
|
Michael Kaess
|
42fca8c399
|
nonlinear update, all but rhs/config
|
2009-12-30 04:27:14 +00:00 |
|
Richard Roberts
|
0b9451bc4b
|
Initializing libtool correctly in gtsam (see email to frankcvs with same subject)
|
2009-12-29 20:01:38 +00:00 |
|
Michael Kaess
|
737a2f1e05
|
unit test enabled again and working
|
2009-12-29 14:54:45 +00:00 |
|
Frank Dellaert
|
c43cd425ab
|
new back-substitution functions that can do unit triangular solves
|
2009-12-29 13:59:34 +00:00 |
|
Michael Kaess
|
75ab62a729
|
ISAM2 (nonlinear ISAM) partially there, unit test currently disabled
|
2009-12-29 05:57:05 +00:00 |
|
Frank Dellaert
|
8d4a029665
|
rhs method
|
2009-12-28 18:46:01 +00:00 |
|
Frank Dellaert
|
543d3fcd65
|
System now a class (gradient is method)
|
2009-12-28 17:28:48 +00:00 |
|
Frank Dellaert
|
0c0b73042b
|
template now exposed in iterative.h, and has its own implementation file
|
2009-12-28 16:26:16 +00:00 |
|
Frank Dellaert
|
5ac304aff3
|
correct convergence criterion, verbose flag
|
2009-12-28 16:15:26 +00:00 |
|
Frank Dellaert
|
674ae9d030
|
steepest descent now all implemented in iterative.h/cpp
|
2009-12-28 12:37:34 +00:00 |
|
Frank Dellaert
|
bc27afc49f
|
CGD method now uses CGD template in iterative.cpp
|
2009-12-28 10:48:48 +00:00 |
|
Frank Dellaert
|
863ee58c0f
|
new iterative.h/cpp compilation unit
|
2009-12-28 09:56:58 +00:00 |
|
Frank Dellaert
|
d9fd502656
|
moved CG tests from testGFG to testIterative
|
2009-12-28 09:44:30 +00:00 |
|
Frank Dellaert
|
1fac98b4cb
|
Errors:dot, VectorConfig::operator*/-, as a result Conjugate Gradient Descent template now works for factor graphs
|
2009-12-28 08:15:09 +00:00 |
|
Michael Kaess
|
5dfd1921e1
|
template nightmare resolved, all tests working
|
2009-12-27 23:15:36 +00:00 |
|
Frank Dellaert
|
266fc56dea
|
Gradient using new operator^ and errors method
|
2009-12-27 12:13:31 +00:00 |
|
Frank Dellaert
|
7d1428de60
|
Added Errors class and operator* for GaussianFactor and GaussianFactorGraph. Also moved a few functions to cpp.
|
2009-12-26 22:48:41 +00:00 |
|
Frank Dellaert
|
6614434b83
|
System version of CG
|
2009-12-26 21:25:45 +00:00 |
|
Richard Roberts
|
8d3918e7f9
|
Typo made testPose2Factor not build on Linux
|
2009-12-26 19:31:02 +00:00 |
|
Frank Dellaert
|
f3965b07ca
|
Conjugate Gradient Descent template (in progress)
|
2009-12-26 15:06:54 +00:00 |
|
Frank Dellaert
|
886c7dcdcc
|
formatting and comments
|
2009-12-26 15:06:21 +00:00 |
|
Frank Dellaert
|
8dbf79706e
|
commented out two broken tests
|
2009-12-26 15:05:55 +00:00 |
|
Michael Kaess
|
4403b51fcd
|
isam functionality separated into ISAM class, still within BayesTree
|
2009-12-26 04:44:13 +00:00 |
|
Frank Dellaert
|
2cb52694b5
|
Multiply with transpose sugar A'*v = A^v
|
2009-12-25 17:52:58 +00:00 |
|
Michael Kaess
|
80ff7e6d26
|
uncommented urban In Makefile.am as it prevents linking; added Pose2Prior; ISAM2/planar now working
|
2009-12-24 23:44:08 +00:00 |
|
Richard Roberts
|
92b60a8543
|
Made 'between' derivatives in the tangent space of the solution instead of tangent space of identity, this makes Pose2 an "origin-free" manifold.
|
2009-12-21 16:43:23 +00:00 |
|
Frank Dellaert
|
d0b757da48
|
remove method to set factor to NULL
|
2009-12-20 21:21:01 +00:00 |
justinca
|
3158a5c7c1
|
Rework UrbanMeasurement to be more efficient, less duplicate code. Add real unit tests for the class
|
2009-12-20 14:59:37 +00:00 |
|
Frank Dellaert
|
d362fa13d8
|
print is more intuitive using reverse order
|
2009-12-20 11:56:33 +00:00 |
|
Frank Dellaert
|
18c44e0d1f
|
Comments only
|
2009-12-20 10:32:34 +00:00 |
|
justinca
|
7012fd2857
|
UrbanMeasurement first pass at implementation. Still need to add test data, sort out some details.
|
2009-12-18 19:43:55 +00:00 |
|
Richard Roberts
|
82825a30bf
|
Fixed unit test broken by fix in Pose2Factor
|
2009-12-18 14:42:19 +00:00 |
|
Frank Dellaert
|
b14094cb1f
|
testUrbanOdometry
|
2009-12-18 07:15:19 +00:00 |
|
Frank Dellaert
|
d11d674c01
|
addOdometry now works
|
2009-12-18 06:55:44 +00:00 |
|
Frank Dellaert
|
c987ab397c
|
error_vectors
|
2009-12-18 06:55:24 +00:00 |
|
Frank Dellaert
|
bf504d30db
|
new concatVectors call
|
2009-12-18 06:11:19 +00:00 |
|
Frank Dellaert
|
ac72d1cc22
|
renamed transformPose_to to transform_to, composeTransform to compose, and changed nr. of arguments of Dtransform_to2 (to two)
|
2009-12-18 05:36:53 +00:00 |
|
Frank Dellaert
|
eaf27af92d
|
error_vector and error unit-tested
|
2009-12-18 05:18:31 +00:00 |
|
Frank Dellaert
|
edb72d305f
|
better error message, formatting
|
2009-12-18 05:16:09 +00:00 |
|
Frank Dellaert
|
0194926dc2
|
transpose not needed
|
2009-12-18 05:14:34 +00:00 |
|
Frank Dellaert
|
c9bd327961
|
formatting
|
2009-12-18 05:14:08 +00:00 |
Alex Cunningham
|
e2bc13a2a6
|
Renaming gradients -> jacobians
|
2009-12-18 03:05:47 +00:00 |
|
Frank Dellaert
|
a3deb992c4
|
use BOOST_FOREACH
|
2009-12-18 02:48:21 +00:00 |
|
Alex Cunningham
|
a1918056a5
|
Changed NonlinearConstraints to take cost and gradient functions that do not take the list of keys. Tests have been reconstructed using boost::bind
|
2009-12-18 02:39:02 +00:00 |
|
Frank Dellaert
|
5a0bc8ab53
|
remove binaries
|
2009-12-18 02:30:05 +00:00 |
|
Frank Dellaert
|
cf1fde7bda
|
UrbanFactor, UrbanGraph.cpp, template instantiations
|
2009-12-18 02:27:50 +00:00 |
|
Alex Cunningham
|
7d0de77fc6
|
Changed argument ordering for constraints
|
2009-12-18 01:40:29 +00:00 |
|
Frank Dellaert
|
7dfc67860c
|
unit tests for new Urban* classes
|
2009-12-18 01:24:28 +00:00 |
|
Alex Cunningham
|
d75a602546
|
Removed failed test testSQPOptimizer
|
2009-12-18 01:24:19 +00:00 |
|
Richard Roberts
|
ff817551de
|
Added FactorGraph::replace(index, factor) to replace one factor with another (used in FrameSLAM).
|
2009-12-18 00:13:38 +00:00 |
|
Richard Roberts
|
3c0ae0ec1c
|
Math fix in linearize() and error_vector()
|
2009-12-18 00:10:20 +00:00 |
|
Richard Roberts
|
7161878285
|
Small changes: standardized constructors, added log() and unit tests, removed +,- ops, angle() changed to theta(), print functions
|
2009-12-18 00:09:54 +00:00 |
Viorela Ila
|
d61d92c0e7
|
UrbanGraph class and testUrbanGraph TODOs
|
2009-12-17 21:23:50 +00:00 |
|
Frank Dellaert
|
68de3ae715
|
better comments
|
2009-12-17 19:34:27 +00:00 |
Manohar Paluri
|
dc9a966fdd
|
moved shared pointer declaration to Cal3_S2.h
|
2009-12-17 10:02:43 +00:00 |
|
Richard Roberts
|
3326759f0b
|
Removed extra ;
|
2009-12-16 21:41:33 +00:00 |
|
Richard Roberts
|
c45f64657f
|
Changes to make Pose2Config work with NonlinearOptimizer
|
2009-12-16 21:40:41 +00:00 |
|
Richard Roberts
|
83c95f2343
|
Changed constructor used from Pose2(t,R) to Pose2(R,t)
|
2009-12-16 21:39:03 +00:00 |
|
Frank Dellaert
|
9efac7b3fb
|
Some re-naming and re-formatting only
|
2009-12-15 05:34:49 +00:00 |
|
Richard Roberts
|
94f986bbe7
|
Indentation
|
2009-12-15 00:00:02 +00:00 |
Chris Beall
|
a7a5e5e816
|
small performance improvement by using a pointer to address r
|
2009-12-14 16:56:50 +00:00 |
|
Richard Roberts
|
71bc9ca0f7
|
Added unit tests that were missing
|
2009-12-14 15:45:45 +00:00 |
|
Richard Roberts
|
971b575715
|
Fix duplicate definition error by adding 'inline' to checkConvergence
|
2009-12-14 06:10:51 +00:00 |
|
Michael Kaess
|
2270c7d787
|
BayesTree animation
|
2009-12-14 06:01:15 +00:00 |
|
Richard Roberts
|
c4b60bfd65
|
Closing # 118: Made Pose2 use Rot2, added 'compose' for Pose2, made slight modifications to Rot2. Also added additional unit tests. This change shouldn't break anything but let me know if it does.
|
2009-12-14 03:02:05 +00:00 |
|
Michael Kaess
|
0116b3a515
|
severe bug fixed in updating of Bayestree
|
2009-12-13 20:54:48 +00:00 |
|
Viorela Ila
|
d5d70d7751
|
gradientDescent_ and conjugateGradientDescent_ works in matlab
|
2009-12-13 03:02:14 +00:00 |
|
Frank Dellaert
|
6e3f36dc63
|
Trying different orderings
|
2009-12-12 12:53:39 +00:00 |
|
Frank Dellaert
|
2914d663de
|
No print in tests
|
2009-12-12 06:18:59 +00:00 |
|
Frank Dellaert
|
c38683cd64
|
Sped up and fixed (?) sparse
|
2009-12-12 06:18:29 +00:00 |
|
Frank Dellaert
|
99533f286f
|
Vanilla Conjugate Gradient Descent works
|
2009-12-12 04:44:34 +00:00 |
|
Frank Dellaert
|
2a2963b7dd
|
Added a numerical gradient calculation test
|
2009-12-12 04:13:12 +00:00 |
|
Frank Dellaert
|
56a4172480
|
Fixed printing in matlab
|
2009-12-12 04:12:24 +00:00 |
|
Chris Beall
|
be10fc2a90
|
18% performance boost by using pointer to address destination matrix A
|
2009-12-11 23:59:37 +00:00 |
|
Viorela Ila
|
631248f902
|
no print yet
|
2009-12-11 23:16:57 +00:00 |
|
Viorela Ila
|
570c6a3c71
|
print method for Pose2Graph
|
2009-12-11 23:00:52 +00:00 |
|
Viorela Ila
|
8a9f05059c
|
implement getOrdering_ to work in matlab
|
2009-12-11 22:53:48 +00:00 |
|
Frank Dellaert
|
a1e90af90f
|
exmap that takes Vector
|
2009-12-11 22:43:34 +00:00 |
|
Frank Dellaert
|
137291b2c9
|
Vector-like operators
|
2009-12-11 21:38:08 +00:00 |
|
Frank Dellaert
|
e46cfbd7c4
|
fixed bug in sum
|
2009-12-11 21:37:52 +00:00 |
|
Frank Dellaert
|
bca489384e
|
dot product
|
2009-12-11 21:37:40 +00:00 |
|
Viorela Ila
|
76b55aba7d
|
linearize method for Pose2Graph works in Matlab!!
|
2009-12-11 21:34:08 +00:00 |
|
Viorela Ila
|
03304ac421
|
testPose2Graph tests linearize
|
2009-12-11 19:32:46 +00:00 |
|
Frank Dellaert
|
a66f08a5e0
|
testing new alphaFactor
|
2009-12-11 18:03:43 +00:00 |
|
Frank Dellaert
|
f91a1f0192
|
error_vector
|
2009-12-11 17:42:54 +00:00 |
|
Frank Dellaert
|
abc268a13d
|
quick cleanup - expmap comments
|
2009-12-11 14:22:35 +00:00 |
|
Frank Dellaert
|
16e1f6e56d
|
use Vector_ for conciseness
|
2009-12-11 05:28:19 +00:00 |
|
Frank Dellaert
|
726858145a
|
gradient descent (with fixed nr. of iterations, choosing optimal step size)
|
2009-12-11 04:59:05 +00:00 |
|
Frank Dellaert
|
299fcf1e04
|
scale is const !
|
2009-12-11 04:57:31 +00:00 |