Richard Roberts
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cd300bfeff
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First pass at marginalization of leaves in iSAM2 - passes unit tests but needs to be tested on real data
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2013-02-24 19:09:54 +00:00 |
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Richard Roberts
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717fa5781b
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Comment formatting
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2013-02-24 19:09:51 +00:00 |
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Richard Roberts
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b4f5413989
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Added an argument to ISAM2::update to not change the linearization point of a given set of variables
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2013-02-21 15:59:50 +00:00 |
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Richard Roberts
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013705232c
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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.
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2013-01-08 23:31:06 +00:00 |
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Richard Roberts
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4cb66dcdcc
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For speed, added partial permutation version of VectorValues::permuteInPlace and removed Permutation::partialPermutation (which generated a full-length permutation with only a few entries rearranged)
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2012-12-18 14:21:58 +00:00 |
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Richard Roberts
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b58fb71377
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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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2012-12-18 14:21:28 +00:00 |
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Richard Roberts
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7309aa0ffa
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Unit tests pass with piecewise VectorValues implementation (for fast permutations)
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2012-12-18 14:21:02 +00:00 |
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Richard Roberts
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bd285fbb52
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Merge remote-tracking branch 'svn/trunk' into isam2-chain-optimization
Conflicts:
gtsam/linear/HessianFactor.cpp
gtsam/linear/VectorValues.cpp
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2012-12-18 14:20:31 +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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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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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 |
Stephen Williams
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5505483111
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Fixed bug in iSAM2 when removing factors/variables. The set of ordering constraints should not contain unaffected variables.
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2012-10-21 02:09:58 +00:00 |
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Richard Roberts
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89b50e7679
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Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
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2012-10-02 20:18:41 +00:00 |
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Richard Roberts
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4876cc7ff7
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Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list)
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2012-10-02 18:36:39 +00:00 |
Chris Beall
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4297d24c96
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changed tabs to spaces for consistent indentation in all of GTSAM
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2012-10-02 14:40:07 +00:00 |
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Richard Roberts
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b0508cc1a8
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Removed JacobianFactorGraph - moved its linear algebra interface to GaussianFactorGraph and redirected all uses of it to GaussianFactorGraph
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2012-09-04 22:42:09 +00:00 |
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Stephen Williams
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1a8dc9bdcc
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Only execute the RemoveVariables code in iSAM2 if there actually are variables to remove.
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2012-08-01 21:31:19 +00:00 |
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Stephen Williams
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4b3edb0889
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Wrapped iSAM2
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2012-07-19 19:50:00 +00:00 |
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Richard Roberts
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384f50f1fe
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Removed debug-only variable in iSAM2 that was causing a crash when gtsam was compiled with NDEBUG defined and a project compiled without it defined, or vice-versa
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2012-07-10 22:42:28 +00:00 |
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Richard Roberts
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59c6234d4f
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Reworked variable removal in iSAM2 to hopefully fix difficult bug
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2012-07-06 18:33:01 +00:00 |
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Stephen Williams
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134951f21c
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In iSAM2, added a check in the Batch-mode path that checks if linearized factors should be stored for performance reasons. Without this, factors were cached in batch-mode but not in the normal incremental-mode, leading to inconsistency
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2012-07-05 18:59:10 +00:00 |
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Stephen Williams
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f55612d381
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Moved the 'markKeys' generation in iSAM2 until after the call to RemoveVariables. Since the 'RemoveVariables' function permutes the ordering, this ensures markedKeys uses the correct indices
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2012-07-05 18:50:09 +00:00 |
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Stephen Williams
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f575cb4cc0
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Fixed bug in iSAM2 where variables are deleted inside of iSAM2 even though they appear in the set of new, incoming factors
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2012-07-05 18:37:08 +00:00 |
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Richard Roberts
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806d86513d
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Fixed bug in iSAM2 variable removal where removed variables still became marked when marking relin-affected variables
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2012-07-05 17:08:05 +00:00 |
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Richard Roberts
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96fc5991db
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Automatic removal of unused variables in iSAM2 working in unit tests!
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2012-06-30 22:32:49 +00:00 |
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Richard Roberts
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57ca7d77db
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Removed Permuted views to simplify a lot of code - all objects that need to be permuted now have their data rearranged instead of using the "Permuted" indirection class.
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2012-06-30 01:45:21 +00:00 |
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Stephen Williams
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c7ff913f64
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Added yet another configuration parameter to iSAM2. 'enablePartialRelinearizationCheck' checks variables for relinearization by descending the Bayes tree. Once a variable does not need to be relinearized, we stop checking that branch. A full check is still the default.
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2012-06-28 20:46:53 +00:00 |
Yong-Dian Jian
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a9c36fc172
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move linear algebra functions for jacobian factor graph to a new file
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2012-06-07 01:24:19 +00:00 |
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Richard Roberts
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8f43298d21
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Whitespace
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2012-05-24 20:11:45 +00:00 |
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Richard Roberts
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1ce95c1d89
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Removed LDL in favor of Cholesky
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2012-05-15 15:49:14 +00:00 |
Alex Cunningham
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cb017fee80
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tested and documented ability to swap factors with ISAM2
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2012-05-01 18:54:44 +00:00 |
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Richard Roberts
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792c8ee55a
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Detailed results optionally returned by ISAM2::update, with the status of each variable
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2012-04-12 03:04:32 +00:00 |
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Richard Roberts
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91e7dc5882
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Caching linearized factors in iSAM2, improves speed when linearization is expensive
Merge remote-tracking branch 'svn/branches/iSAM2_cache_linearized' into trunk
Conflicts:
.cproject
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2012-04-11 14:17:59 +00:00 |
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Richard Roberts
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45f2101f48
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Fixed deep copy in iSAM2 and added unit test to reproduce problem
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2012-04-06 18:56:07 +00:00 |
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Richard Roberts
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14d20cff0b
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Bug fix when getting nonlinear error debug statistics
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2012-04-03 23:20:03 +00:00 |
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Richard Roberts
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7226f910bb
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Bug fix when relinearizing on first step in iSAM2
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2012-04-03 22:06:06 +00:00 |
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Stephen Williams
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4d9542dc70
|
Fixed compile warning
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2012-04-02 20:04:43 +00:00 |
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Richard Roberts
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ba8fb0ba27
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iSAM2 factorization parameter to choose LDL or QR
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2012-03-27 23:30:19 +00:00 |
|
Richard Roberts
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3baba11815
|
Fine-grained ordering constraints in iSAM2
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2012-03-24 16:52:55 +00:00 |
|
Richard Roberts
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5862943a8a
|
Timing statements and avoiding recalculating dimensions
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2012-03-22 06:18:38 +00:00 |
|
Richard Roberts
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b1d4552781
|
Timing statements
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2012-03-19 16:55:52 +00:00 |
|
Richard Roberts
|
6356647665
|
Bug fixes and using wildfire with Dogleg
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2012-03-19 16:25:03 +00:00 |
|
Richard Roberts
|
670117cfe7
|
Compiles and passes unit tests
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2012-03-19 14:32:37 +00:00 |
|
Richard Roberts
|
c695b23e36
|
In progress - updating dogleg computations incrementally
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2012-03-18 05:13:40 +00:00 |
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Richard Roberts
|
4c2581f40e
|
In progress
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2012-03-17 23:57:44 +00:00 |
|
Richard Roberts
|
047dda05d7
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Removed ISAM2 templating
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2012-03-17 23:57:42 +00:00 |
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Richard Roberts
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99c3371474
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In progress
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2012-03-16 20:55:21 +00:00 |