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287 Commits (18e23c20dfc1c037e3119a7aa93968da928fae6c)

Author SHA1 Message Date
Richard Roberts 0a81c4e57a Renamed NonlinearFactor[1-6] to NoiseModelFactor[1-6] 2012-02-20 21:52:47 +00:00
Richard Roberts 0592b71ac4 Switched Values, Ordering, and factors to int 'Key' instead of 'Symbol', 
still more code changes required to compile
 2012-02-19 01:02:07 +00:00
Alex Cunningham 6f09998e10 Removed autotools from gtsam2 branch 2012-02-13 21:13:07 +00:00
Richard Roberts 75428b13fe Revert "Using FastVector instead of vector in most code called during elimination and solving" 
This reverts commit 566631cb42249cb710ef01d07d583e563afccea9.
 2012-02-13 20:27:54 +00:00
Richard Roberts 051c832737 Fixed compile errors with gcc 2012-02-13 19:09:00 +00:00
Alex Cunningham d0e9b1d51a Fixed cmake build problem to allow for excluding test files, switched testPose3SLAM to use a different interface to values 2012-02-11 22:38:53 +00:00
Richard Roberts 263b50d85a Using FastVector instead of vector in most code called during elimination and solving 2012-02-10 15:56:01 +00:00
Richard Roberts 0d2a9018e3 Merged sub-branch into 2.0_prep branch 2012-02-08 22:05:24 +00:00
Richard Roberts 669c7c8dc8 Split up serialization unit tests into subdirectories to speed up 2012-02-08 21:53:02 +00:00
Richard Roberts 3d40f5e6fc All unit tests pass with TypedSymbol removed 2012-02-07 04:58:11 +00:00
Richard Roberts 2f7f535f34 All unit tests pass with nonlinear factors templated on value instead of key 2012-02-07 04:02:20 +00:00
Duy-Nguyen Ta 6f4c95a65b apply bug fixes in MATLAB wrapper shared_ptr return from trunk. All tests work now. 2012-02-06 03:29:14 +00:00
Richard Roberts 811be62ed3 Working on templating factors on Value type instead of key type 2012-02-06 00:44:25 +00:00
Duy-Nguyen Ta f4515d7b30 put back Value in slam sub-namespaces for the wrapper to interface with MATLAB. Cannot solve the return shared_ptr problem in NonlinearOptimizationParameters::newDecreaseThresholds 2012-02-05 22:34:35 +00:00
Duy-Nguyen Ta 563e8fe77c correct PinholeCamera serialization problem. Add detailed comments for serialization in Value.h 2012-02-03 21:34:07 +00:00
Richard Roberts 3d9e818d1e (2.0_prep branch) Merged in additional changes from virtual_values branch r8901-r8902 2012-02-03 17:20:23 +00:00
Richard Roberts 820b33bd55 (2.0_prep branch) Merged in virtual_values branch 2012-02-03 17:18:32 +00:00
Richard Roberts 26cdf28421 Renamed DynamicValues to Values and removed specialized derived Values classes 2012-02-02 16:16:46 +00:00
Alex Cunningham 28f2276cc4 Added flag to link against local convenience libraries for tests 2012-01-31 19:59:19 +00:00
Alex Cunningham c43a9b4852 Added a variety of options to the cmake build, working on automating wrap execution/install 2012-01-31 19:59:15 +00:00
Alex Cunningham 6c87006b6a Forced testSerialization to always get run to avoid serialization breaking whenever the library changes 2012-01-31 19:59:11 +00:00
Alex Cunningham 910beebb8f Added wrap to build, assorted cleanup 2012-01-31 05:28:03 +00:00
Alex Cunningham 03b4743e7a Removed unnecessary cpp file in vSLAMexample, added CMake support for examples, used static linking to the real gtsam for tests 2012-01-31 05:28:02 +00:00
Alex Cunningham e45514e858 added tests folder to cmake build, fixed testSerialization due to namespace changes, set up linking with boost 2012-01-31 05:28:00 +00:00
Stephen Williams 4c54d05da9 Fixed index bug in ExtendedKalmanFilter unit test 2012-01-30 23:37:47 +00:00
Chris Beall 537a1a3fae Matlab wrapped classes now live within the gtsam namespace, meaning you have to use gtsamPose2 instead of just Pose2 in Matlab. This fixes the Point2 and Point3 issues we had with Matlab 2011b. 
promote pose2SLAM planarSLAM etc. namespaces to be next to gtsam instead of within
 2012-01-30 22:00:13 +00:00
Richard Roberts 51dca5b2d0 (in branch) Fixed Value base class assignment operator, ISAM2 expmap function, and unit tests 2012-01-30 21:23:02 +00:00
Duy-Nguyen Ta f86da6f983 testProjectionFactor and testVSLAM passed. Remaining unpassed tests: GaussianISAM2, NonlinearFactorGraph (colamd failed), SPCG 2012-01-30 16:46:36 +00:00
Duy-Nguyen Ta 98f2d47f58 most tests passed, except testPose2SLAMwSPCG, testGaussianISAM2, testNonlinearEquality, testNonlinearFactorGraph, testProjectionFactor, testVSLAM 2012-01-30 04:34:46 +00:00
Duy-Nguyen Ta 2db224df3c All compiled! Only SPCG and linear/SubgraphSolver are not fixed. 2012-01-29 22:10:35 +00:00
Duy-Nguyen Ta 5b5bbfdfff testSimmulated2D passes. Too many warnings in boost from clang! 2012-01-29 21:12:58 +00:00
Alex Cunningham 67aa0bf63d Fixed compile problems with NonlinearOptimizationParameters, removed redundant typedef 2012-01-29 01:24:27 +00:00
Alex Cunningham 93b1619c81 updated serialization test for pinhole camera 2012-01-29 00:03:45 +00:00
Chris Beall 63dc9399b9 refactored Pose2SLAM 2012-01-28 02:31:44 +00:00
Frank Dellaert ba34a43b1c wrapped new KF style and fixed test 2012-01-27 22:20:43 +00:00
Richard Roberts b3df8d336a For ASPN release, added temporary ENABLE_SPCG flag to avoid conflict with boost::variant 2012-01-27 16:43:31 +00:00
Frank Dellaert 852bb149ce documentation 2012-01-22 06:28:11 +00:00
Richard Roberts e0e3875ff9 Values and TupleValues throw error if attempting to insert the same key twice, also improved error handling with specific exception types. 2012-01-06 18:58:20 +00:00
Alex Cunningham 2572265096 Added noisemodel syntactic sugar so that matlab interface examples and tests work 2012-01-04 16:18:38 +00:00
Alex Cunningham 94049675a4 pacified warnings 2012-01-03 19:20:42 +00:00
Richard Roberts 18a1a98859 Ability to manually constrain specified variables to end of ordering in iSAM2 2012-01-03 19:14:00 +00:00
Richard Roberts 6c6409b81a Ability to remove factors from iSAM2 2012-01-03 17:50:48 +00:00
Richard Roberts b9bd2e61d8 Simplified Rot3 by having only one implementation available at a time 2012-01-02 20:24:23 +00:00
Richard Roberts fa4af2e211 Merged Rot3M.h and Rot3Q.h into Rot3.h, which now defines both Rot3M and Rot3Q. 2012-01-02 02:24:29 +00:00
Alex Cunningham 927217ba4b Cleanup from FactorGraph-inl.h 2011-12-21 16:59:37 +00:00
Stephen Williams 7c87a4f58d Included the inline header at the bottom of SubgraphSolver, NonlinearFactorGraph, NonlinearOptimization, and NonlinearOptimizer. This avoids having to include the '-inl.h' in subsequent projects. 2011-12-20 23:25:43 +00:00
Richard Roberts 64c0606f21 Merged incremental dogleg, updated ASPNtests and GeneralFlow projects for new ISAM2Params. Refactoring of BayesTree. Added many, but not all, #includes of -inl.h files at bottom of .h files, and removing includes of -inl.h files from .cpp files and other -inl.h files. 2011-12-15 20:14:21 +00:00
Alex Cunningham 17bf0f0169 Added static and shared versions of gtsam 2011-12-15 16:17:58 +00:00
Richard Roberts 2fff75562f (in branch) Merged from trunk r8058-r8097 2011-12-15 15:53:05 +00:00
Richard Roberts 21140ea0d5 (in branch) incremental dogleg bug fix and unit test (wasn't computing Gauss-Newton point) 2011-12-15 15:37:52 +00:00
Richard Roberts f3de9e425f (in branch) first pass at Dogleg in ISAM2, bug(s) remaining 2011-12-15 00:08:57 +00:00
Alex Cunningham 5dd461c5b1 Added make check equivalent 2011-12-14 02:24:23 +00:00
Alex Cunningham 61d05813ff Library now builds and all tests run with cmake 2011-12-14 02:24:21 +00:00
Richard Roberts dace9e213c (in branch) Start of unit test for incremental gradient calculation 2011-12-13 22:54:11 +00:00
Richard Roberts 88c3e81a7d (in branch) bug fix and unit test in permutation bug introduced during BayesTree Clique refactoring 2011-12-13 18:46:31 +00:00
Richard Roberts 8d5facb09e (in branch) make check passes after refactoring and code changes for including -inl.h files from .h files 2011-12-12 23:19:31 +00:00
Richard Roberts 3b139cbae2 (in branch) Merged from trunk r7960-r8057 2011-12-12 16:03:52 +00:00
Duy-Nguyen Ta e036dd460e support cloning (deep copy) for ISAM2 2011-12-06 16:21:57 +00:00
Alex Cunningham ec4cfdf065 Added a test runner script for matlab unit tests 2011-12-01 01:59:39 +00:00
Richard Roberts a0abe68b64 (in branch) Merged from trunk r7760-r7959 2011-11-29 17:02:02 +00:00
Alex Cunningham 8bc83d4219 Changed -inl.h use with Values and TupleValues, removed instantiation macros for Values and TupleValues 2011-11-17 22:44:46 +00:00
Alex Cunningham 96f77466c6 Removed need to include -inl.h for isam variants 2011-11-17 21:20:04 +00:00
Alex Cunningham ba22799b67 Removed unnecessary includes 2011-11-17 18:45:41 +00:00
Richard Roberts e6a43d6330 (in branch) Dogleg in ISAM2 in progress 2011-11-12 21:19:46 +00:00
Alex Cunningham bdc2d8f996 Fixed switching to QR for constrained graphs 2011-11-10 19:44:03 +00:00
Alex Cunningham 0fe13ae3ca Fixed noisemodel compile error, moved remaining nonlinear constraints to NonlinearEquality 2011-11-10 02:05:03 +00:00
Alex Cunningham 98410ca5c9 Merge branch 'unified_constraints' 
Conflicts:
	gtsam/linear/NoiseModel.cpp
	gtsam/linear/NoiseModel.h
	gtsam/linear/tests/testNoiseModel.cpp
 2011-11-09 22:15:40 +00:00
Richard Roberts 716c5175ab Quaternion implementation of Rot3, made default with GTSAM_DEFAULT_QUATERNIONS 2011-11-09 01:40:20 +00:00
Richard Roberts 3cd3a06eb7 Unit test bug fix - wasn't a rotation matrix 2011-11-09 01:39:18 +00:00
Alex Cunningham d340e556b5 Fixes due to bad merge 2011-11-07 21:16:26 +00:00
Alex Cunningham 8592e6b2c6 Renamed LieValues, changed Lie interface 2011-11-07 20:23:20 +00:00
Alex Cunningham 42a3963c7e Merge branch 'master' into retraction_name 2011-11-06 19:40:48 +00:00
Alex Cunningham 5798868ab7 Changed LieValues->Values. Did not change Values typedefs in slam domains, just adjusted namespaces 2011-11-06 19:08:42 +00:00
Richard Roberts 26dd292872 Enabled DogLeg unit test and made DogLeg verbose printing controlled by a flag 2011-11-06 18:26:47 +00:00
Alex Cunningham 4284f07a61 Updates to dogleg to work with newer Lie/Manifold/Group interface 2011-11-05 23:01:50 +00:00
Alex Cunningham 1ec7d7e86e Merge branch 'master' into retraction_name 2011-11-05 23:01:48 +00:00
Alex Cunningham 2b9a3db085 Added Group concept, reworked naming and conventions to reduce unnecessary functions 2011-11-05 23:01:43 +00:00
Richard Roberts 53dfa5dbb9 Merging Dogleg into trunk 2011-11-05 21:29:02 +00:00
Alex Cunningham 97a82add25 make check for entire library now works 2011-11-04 21:44:34 +00:00
Frank Dellaert 28415ee219 Added EQUALITY for MATLAB tests 2011-11-04 00:27:43 +00:00
Frank Dellaert cbd6446bd7 Wrapped KalmanFilter and tested it in MATLAB 2011-11-04 00:27:02 +00:00
Richard Roberts 5408ab0a2d Made GaussianFactorGraph::sparse and sparseJacobian functions take no arguments, and instead compute column indices internally 2011-10-29 23:12:58 +00:00
Richard Roberts eb8fb31b2a VectorValues documentation and interface cleanup, additional unit tests and bug fix. 2011-10-29 18:53:08 +00:00
Frank Dellaert 65616dbde5 Matrix version of sparseJacobian for MATLAB wrapping, unit-tested in linear now 2011-10-29 04:01:03 +00:00
Richard Roberts c120ee93f6 Added unit tests for higher-ary NonlinearFactors 2011-10-26 02:07:35 +00:00
Richard Roberts 2c53df3ee7 Simplified VectorValues interface and implementation, slight simplification to Permuted<> 2011-10-26 02:04:06 +00:00
Frank Dellaert 7c55724ddd Doxygen 2011-10-22 19:57:36 +00:00
Manohar Paluri 5016ca4f25 Added determinant function to GaussianBayesNet and added a unit test 2011-10-21 21:45:40 +00:00
Frank Dellaert 8535b13809 Made error a method again: all checks, let me know if project throw errors 2011-10-21 05:36:30 +00:00
Frank Dellaert ce5751e454 Moved test here from gtsam_experimental, as now works 2011-10-21 05:35:30 +00:00
Alex Cunningham 3b5c6e8cef Removed old Testable base class 2011-10-20 02:11:28 +00:00
Frank Dellaert 56d1d6ae34 Fixed some Doxygen problems with global replace 2011-10-14 03:23:14 +00:00
Richard Roberts af3c12a7df Implemented N-way factor base class in NoiseModelFactor, added NonlinearFactor{3-6}, adapted NonlinearFactor1,2,3 and NonlinearConstraint1,2,3 to derive from NoiseModelFactor in a minimal way 2011-10-03 04:24:24 +00:00
Richard Roberts 63ca74e492 Fixed bug in multifrontal marginals caused by backwards permutations with LDL (seems to be an inconsistency in Eigen?). Added GaussianConditional constructor from any number of frontal and parent variables. Added several new unit tests on marginals. Fixed small bug in GaussianConditional non-const get_d_ and get_R_ functions that didn't account for multiple frontal variables. 2011-09-23 02:50:46 +00:00
Richard Roberts 222d5073b9 Relocated unit test 2011-09-23 02:48:34 +00:00
Alex Cunningham 4569bb41a3 Fixed serialization of stereo cameras 2011-09-12 15:30:31 +00:00
Richard Roberts 936ee6d9fd ISAM2 refactoring and documentation 2011-09-07 15:42:49 +00:00
Frank Dellaert b614f6bf42 header order 2011-09-03 04:47:43 +00:00
Frank Dellaert 04e41f8c38 Split off NoiseModelFactor (a NonlinearFactor with a NoiseModel) from NonlinearFactor (a Factor with dim, linearize, and symbolic methods). NonlinearConstraint derives from NoiseModelFactor. 2011-09-03 03:46:19 +00:00
Frank Dellaert 0c34b57b92 removed spurious typename 2011-09-02 13:53:36 +00:00