fbee0bd749
Fixing compile issue in SubgraphPreconditioner.h
2010-01-19 13:29:40 +00:00
3806125096
add linear system as a template parameter in nonlinear optimizer
...
fixed a nasty bug and change the internal data type of subgraph preconditioner from reference to boost shared pointer. reference is not a good idea for class members, because no type checking will happen
2010-01-19 10:46:12 +00:00
2eac3b7235
minor typo - comment only
2010-01-19 05:46:04 +00:00
306ac0a4b2
Fixed clobbered checkin
2010-01-19 05:45:25 +00:00
88e465910a
SQP tests and implementation now use the new Key system
2010-01-19 05:33:44 +00:00
2a57a04ba6
get_model
2010-01-19 05:29:31 +00:00
6dcc275432
small comment/print
2010-01-19 04:39:54 +00:00
b01c111a1d
GaussianFactor now uses noiseModel internally - not yet externally
2010-01-19 04:39:28 +00:00
81aaceb890
Whiten now class-specific, access to sigmas
2010-01-19 04:38:58 +00:00
ebbdfc79aa
comment out overflow exception
2010-01-19 04:18:59 +00:00
ef2fb243c2
fixed unit test after colamd change
2010-01-19 03:43:10 +00:00
2507b6aaca
Cleaned up commented line after fix to use the colamd ordering.
2010-01-19 03:16:09 +00:00
0311d2a2a2
Very very small change :-)
2010-01-19 02:57:08 +00:00
0769af6f20
comment
2010-01-19 01:41:44 +00:00
a45893a434
selective incremental linearization works; bug fix in landmark initialization (frank01 again much faster)
2010-01-19 01:18:28 +00:00
a2bce15c4b
selective update of linearization point
2010-01-19 00:15:46 +00:00
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
07c7c4c0bd
print size with ordering
2010-01-16 04:22:21 +00:00
a956c1a8be
svn restored from 1733.
...
this commit updates gtsam to version 1774, which now appears as 1734.
2010-01-16 01:16:59 +00:00
5c0cd093fd
moved relative_bearing to Rot2, changed derivatives to new-style
2010-01-14 16:57:48 +00:00
53a03a0021
Changed signature of tree insert
2010-01-14 16:05:04 +00:00
f645b560ea
Added constructor body
2010-01-14 15:35:23 +00:00
c7e0fe9fd8
fixed template instantiation
2010-01-14 15:32:14 +00:00
e7bf219498
removed .cpp
2010-01-14 15:31:58 +00:00
25372aaa12
c_str
2010-01-14 15:31:42 +00:00
e1388c0f0d
add Ordering-inl.h
2010-01-14 07:56:03 +00:00
dd697a838d
added TupleConfig.h as header
2010-01-14 06:20:34 +00:00
df62213619
RangeFactor works
2010-01-14 06:00:17 +00:00
a552ba4539
Comments/formatting only
2010-01-14 05:59:33 +00:00
8088aea598
Added double as Lie type, needed to remove Lie.h include from Vector.h
2010-01-14 05:58:58 +00:00
1519d029dc
use PredecessorMap instead of map<Key,Key>
2010-01-14 05:24:20 +00:00
8562c00a52
Explicit instantiation to fix link error on Linux, also header to install that was missing from Makefile.am
2010-01-14 05:01:40 +00:00
9bf6409b16
BearingFactor works
2010-01-14 04:35:18 +00:00
32626b3391
bug fix (only worked on Mac)
2010-01-14 03:42:34 +00:00
68d90772e6
ordering is fixed
2010-01-14 03:21:07 +00:00
ac10c440e1
PairConfig is implemented, VSLAMConfig is now a typedef!
2010-01-14 02:58:29 +00:00
6b3e8cf49c
simulated2D now reduced to one .h and .cpp, in its own namespace, better naming, and new-style functions to serve as example
2010-01-14 02:50:06 +00:00
fca2de8f95
fix unit test
2010-01-14 02:21:14 +00:00
7ad114c72f
problem with predecessorMap2Graph
2010-01-14 02:16:29 +00:00
63440f937f
almost fixed oredering except one function call
2010-01-14 02:07:14 +00:00
5a02b36723
Solved some linking problems
2010-01-14 01:44:00 +00:00
6c7dfabe5b
remove template class G and V from predecessorMap2Graph as Frank suggested
2010-01-14 01:25:40 +00:00
3c66861790
fix the graph related functions in FactorGraph as well as its unit tests
2010-01-13 23:59:46 +00:00
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
22b4912d5e
adding #include<boost/shared_ptr.hpp> to graph-inl.h because this dependency doesnt seem to be working without it on gcc 4.3.3
2010-01-13 19:36:52 +00:00
c0bc7e6c10
fix a bug in composePoses that switched the order of compose parameters
2010-01-13 06:02:18 +00:00
2a094b7491
return shared_ptr in composePoses
2010-01-13 02:09:16 +00:00
8d28763339
Vector and Matrix initialization optimization
2010-01-12 16:12:31 +00:00
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
bea55b5f5b
Fixed double map lookup
2010-01-12 16:11:24 +00:00
fcb7c024a7
bearing functions and derivatives
2010-01-12 02:10:42 +00:00
Alex Cunningham
Kai Ni
Frank Dellaert
Michael Kaess
Richard Roberts
Manohar Paluri
Chris Beall
John Rogers