justinca
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16c55975c1
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Fix inverse_square_root, add cholesky decomposition options
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2010-01-22 22:28:03 +00:00 |
Kai Ni
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e88ae4a944
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add dataset.h/cpp
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2010-01-22 20:18:40 +00:00 |
Michael Kaess
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ab155999cf
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simplified alg, but no measureable speed improvement
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2010-01-22 18:29:27 +00:00 |
Frank Dellaert
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351cdd18c2
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case change: SharedGaussian and SharedDiagonal are now classes with their own header file. Needed for MATLAB TORO hail Mary
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2010-01-22 17:36:57 +00:00 |
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Kai Ni
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490791cd48
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add writer module to dump the errors and time
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2010-01-22 08:13:54 +00:00 |
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Kai Ni
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4b778a4e82
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fixed a bug in matrix solve function
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2010-01-22 06:45:01 +00:00 |
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Michael Kaess
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1d093e388d
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changed main algorithm to allow recovery of exact solution
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2010-01-22 06:28:12 +00:00 |
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Frank Dellaert
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75e29dc015
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failing test
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2010-01-22 05:45:59 +00:00 |
Richard Roberts
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5367e5a157
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All std::map<Symbol,T> are now SymbolMap<T>, which is just a thin wrapper around std::map. at(Key) is used instead of first checking with find when an exception should be thrown for non-existent keys. This does not change any behavior or timing currently. This check-in also includes some functions in BayesTree for gathering clique statistics.
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2010-01-22 04:41:40 +00:00 |
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Frank Dellaert
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41a6e64bbb
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Fixed insert to use IndexTable, a new class
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2010-01-22 02:27:26 +00:00 |
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Frank Dellaert
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2cc777228b
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coments and variables only
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2010-01-21 20:15:52 +00:00 |
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justinca
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7575996d52
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Remove leftover commented out unused code
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2010-01-21 19:49:36 +00:00 |
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justinca
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f89a53ed91
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Bugfix in Rot3::logmap. The function checked for a trace of 3, but the check could fail due to rounding errors, causing the function to try to take acos(something larger than 1) resulting in NaNs being returned.
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2010-01-21 19:49:12 +00:00 |
Alex Cunningham
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ac746ccead
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Improved performance of updateAb in NoiseModel with GSL/ATLAS. Various other small optimizations were made.
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2010-01-21 18:51:59 +00:00 |
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Michael Kaess
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2183e09c67
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fluid relinearization works
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2010-01-21 17:41:54 +00:00 |
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Michael Kaess
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523c8630d3
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works at least on already solved data...
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2010-01-21 16:09:57 +00:00 |
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Frank Dellaert
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0dc4f417e9
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sampling from NoiseModel
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2010-01-21 08:31:18 +00:00 |
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Michael Kaess
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8fd0c2ae72
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new fluid relinearization algorithm, in sync with lyx
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2010-01-21 07:38:37 +00:00 |
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Alex Cunningham
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9db7623f80
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Improved instructions for GSL/ATLAS
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2010-01-21 01:03:34 +00:00 |
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Alex Cunningham
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063aa14118
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Reimplemented matrix::householder_update using GSL and BLAS, you'll need to edit Makefile.am to enable the new version -- see email
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2010-01-21 00:59:33 +00:00 |
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Michael Kaess
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188561d925
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removeTop/Path now returns a BayesNet to avoid converting the conditionals to a factor graph
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2010-01-21 00:38:22 +00:00 |
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Richard Roberts
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eb03f78e7d
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Removing dependency hack speeds up compilation
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2010-01-20 20:47:15 +00:00 |
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Alex Cunningham
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588c119bf3
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Added timing script for Matrix::householder_()
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2010-01-20 18:52:31 +00:00 |
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Alex Cunningham
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5f588031bc
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Merged NoiseQR back into trunk
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2010-01-20 18:32:48 +00:00 |
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Alex Cunningham
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9c9007920a
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Changed the interface on Matrix::column() so that it uses the one in our library (now called column_() ) rather than the boost default. Currently, our implementation just uses the boost default, but this may change due to timing results.
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2010-01-20 16:08:14 +00:00 |
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Alex Cunningham
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98b143cd22
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Switched all loop indices in Matrix/Vector to size_t, with improved results in timeGaussianFactorGraph
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2010-01-20 14:42:05 +00:00 |
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Alex Cunningham
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b4f9163296
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Added more labels and results (with higher numbers of repetitions) for timeGaussianFactorGraph
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2010-01-20 14:31:24 +00:00 |
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Alex Cunningham
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8db99db57e
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Small performance improvement for matrix_augmented, with accompanying test in timeGaussianFactor
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2010-01-20 14:09:44 +00:00 |
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Alex Cunningham
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6bc0462669
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Checked Matrix::collect() with different timing metric, and memcpy has approx 25% speedup over original version. Matrix_range is slower or the same speed as the original version.
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2010-01-20 13:45:22 +00:00 |
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Kai Ni
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977a97eacf
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rename variable
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2010-01-20 09:47:09 +00:00 |
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Michael Kaess
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aae49e43f0
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code factorization, speedup
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2010-01-20 06:49:19 +00:00 |
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Kai Ni
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ae908316e0
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add comments
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2010-01-20 06:34:25 +00:00 |
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Richard Roberts
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19dc8bf4b1
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Fixed size() crash when BayesTree empty, added clear() function to BayesTree, added and removed #includes to fix link errors
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2010-01-20 04:23:35 +00:00 |
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Michael Kaess
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e767996b45
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same bug fix as in ISAM2
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2010-01-20 03:54:20 +00:00 |
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Alex Cunningham
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55e414cbdd
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Tried noalias() for collect(), but no real improvement
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2010-01-20 03:25:55 +00:00 |
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Kai Ni
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3bf15333af
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move ordering into the solver, and the nonlinear optimizer is now exact <G, T, L>
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2010-01-20 02:28:23 +00:00 |
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Alex Cunningham
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03ec3e3e62
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Implemented a version of collect() using matrix_range, but it had worse performance than memcpy. New version of vector_scale[column] with new pointer arithmetic implementation for approx 20% improvement.
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2010-01-20 02:28:25 +00:00 |
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Alex Cunningham
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820ae5682d
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Optimized row version of vector_scale with approx 20% improvement
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2010-01-20 02:04:25 +00:00 |
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Michael Kaess
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ecde508318
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incremental nonlinear working
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2010-01-20 01:52:40 +00:00 |
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Alex Cunningham
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b860f06614
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Switched Matrix::collect() over to a memcpy, but the results weren't actually an improvement
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2010-01-20 01:42:36 +00:00 |
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Michael Kaess
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d2291a38d1
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bug fixes after COLAMD activiation: BayesTree::insert was wrong, BayesTree::removeTop/Path fixed and simplified
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2010-01-20 01:24:32 +00:00 |
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Alex Cunningham
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66607897a5
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Added vector_scale timing benchmarks
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2010-01-20 01:05:40 +00:00 |
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Alex Cunningham
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ff83a7b18e
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Fixed compile error in testNoiseModel
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2010-01-20 01:05:18 +00:00 |
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Frank Dellaert
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b47438a86c
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Smart named constructors Covariance/Variances/Variance
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2010-01-20 00:26:49 +00:00 |
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Alex Cunningham
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f577b27f52
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Small optimizations on Matrix::collect(), additional timing capabilities, and now collect() can have dimensions specified to avoid need for lookup.
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2010-01-19 21:49:22 +00:00 |
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Alex Cunningham
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67878830a6
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Added timeMatrix.cpp to test specific matrix operations
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2010-01-19 20:59:22 +00:00 |
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Frank Dellaert
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3cdbaf81c7
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Factorgraph-specific QR factorization now done by the NoiseModel: slow Gram-Schmidt for Constrained, fast Housholder for any other (Gaussian) model.
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2010-01-19 19:06:02 +00:00 |
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Frank Dellaert
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6f2b5a904a
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save on fabs
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2010-01-19 19:04:37 +00:00 |
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Frank Dellaert
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9f4da004c2
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got rid of verbose printing
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2010-01-19 19:04:18 +00:00 |
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Alex Cunningham
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fb0ca07bf1
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Added and tested whitening parameter for matrix() and matrix_augmented()
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2010-01-19 16:52:01 +00:00 |