Frank Dellaert
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651259e26b
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Added comment and sped up both Logmap (by a little) and localCoordinates (by more, esp. in combination with unrotate improvement)
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2012-01-07 21:12:40 +00:00 |
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Frank Dellaert
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164ff7ecd8
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inlined unrotate instead of calling transpose
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2012-01-07 21:11:25 +00:00 |
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Frank Dellaert
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3100ce9f1d
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Changed timing script to use random direction, properly normalized (or rodrigues crashes)
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2012-01-07 21:09:53 +00:00 |
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Frank Dellaert
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1813942b6b
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added a timing script for Pose3
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2012-01-07 21:09:03 +00:00 |
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Frank Dellaert
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3df2844882
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added a timing script for Pose3
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2012-01-07 21:08:45 +00:00 |
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Frank Dellaert
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f9f3b1c47d
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Did more extensive testing on Logmap, cleaned that up, and replaced Taylor expansion on theta with one on (trace-3)
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2012-01-07 19:40:42 +00:00 |
Richard Roberts
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aa31be1649
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Made Fast* container constructors explicit (like the STL versions) to prevent bugs
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2012-01-06 21:21:00 +00:00 |
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Frank Dellaert
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0ba97cc39a
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Mathematica closed form optimization (procrastination?) gone wild
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2012-01-06 20:44:06 +00:00 |
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Frank Dellaert
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ad0212354c
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handy macro
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2012-01-06 19:25:19 +00:00 |
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Richard Roberts
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e0e3875ff9
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Values and TupleValues throw error if attempting to insert the same key twice, also improved error handling with specific exception types.
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2012-01-06 18:58:20 +00:00 |
Alex Cunningham
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38afd1cf47
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Added more targets for release version
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2012-01-06 17:01:21 +00:00 |
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Richard Roberts
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7549bd3e78
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Added per-variable-type and per-vector-element relinearization thresholds in iSAM2
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2012-01-06 16:53:16 +00:00 |
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Richard Roberts
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bd35c8b7da
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Added print function to Permuted<>
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2012-01-06 16:52:06 +00:00 |
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Alex Cunningham
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610faa8439
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Experimented with using Eigen in Cayley implementations - ~4x speedup in Rot3M localCoordinates
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2012-01-06 16:45:07 +00:00 |
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Frank Dellaert
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dae02c387f
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Implemented and tested Rot3.retract based on the Cayley Transform (about three times faster)
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2012-01-06 01:30:10 +00:00 |
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Frank Dellaert
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dfa395529d
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Some more targets
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2012-01-06 01:28:32 +00:00 |
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Frank Dellaert
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f063308bbc
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Cayley transform
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2012-01-06 01:26:52 +00:00 |
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Frank Dellaert
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e6382c7ec0
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Fixed major problem with Pose3 retract. All retractions have to have exactly the same derivatives as the exponential map. Hence, it should never make sense to have to match derivaties with a retract version. I deleted all "wrong" derivatives and pushforwards. Finally, CalibratedCamera had to be modified as well as it hardcoded the wrong derivative of transform_to (for efficiency). It now simply implements the chain rule.
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2012-01-05 16:45:52 +00:00 |
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Frank Dellaert
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5e2f4c0958
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More intuitive code
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2012-01-05 16:43:34 +00:00 |
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Frank Dellaert
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2dde2cf27c
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replace double matrix call
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2012-01-04 16:50:55 +00:00 |
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Alex Cunningham
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2572265096
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Added noisemodel syntactic sugar so that matlab interface examples and tests work
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2012-01-04 16:18:38 +00:00 |
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Frank Dellaert
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9871befb23
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Ignored doc
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2012-01-04 14:24:29 +00:00 |
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Frank Dellaert
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53946b28d0
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Fixed calls of adjointMap and tested correct exponential map derivatives based on them
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2012-01-04 14:23:50 +00:00 |
|
Alex Cunningham
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94049675a4
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pacified warnings
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2012-01-03 19:20:42 +00:00 |
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Richard Roberts
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18a1a98859
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Ability to manually constrain specified variables to end of ordering in iSAM2
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2012-01-03 19:14:00 +00:00 |
|
Richard Roberts
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0cea1bb323
|
Cleaned up svn:ignore property
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2012-01-03 17:51:49 +00:00 |
|
Richard Roberts
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6c6409b81a
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Ability to remove factors from iSAM2
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2012-01-03 17:50:48 +00:00 |
|
Richard Roberts
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568cc7562b
|
Removed unused argument from NonlinearFactorGraph::symbolic
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2012-01-03 17:50:05 +00:00 |
|
Richard Roberts
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dfb1e21284
|
Function to remove factors from a VariableIndex
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2012-01-03 17:49:29 +00:00 |
|
Richard Roberts
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3579b3c1f6
|
Comment fix
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2012-01-03 16:24:22 +00:00 |
|
Frank Dellaert
|
568ce68427
|
Fixed comments and authorship
|
2012-01-02 20:54:49 +00:00 |
|
Richard Roberts
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b9bd2e61d8
|
Simplified Rot3 by having only one implementation available at a time
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2012-01-02 20:24:23 +00:00 |
|
Richard Roberts
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4a9cfbc98a
|
Fixed warning
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2012-01-02 20:23:36 +00:00 |
|
Richard Roberts
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69428c50fb
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Removed 'typeof' that is not supported by matlab compiler
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2012-01-02 20:13:01 +00:00 |
|
Richard Roberts
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30508264d5
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Reordered functions to be in the same order in the header and cpp files
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2012-01-02 16:17:27 +00:00 |
|
Richard Roberts
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fa4af2e211
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Merged Rot3M.h and Rot3Q.h into Rot3.h, which now defines both Rot3M and Rot3Q.
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2012-01-02 02:24:29 +00:00 |
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Richard Roberts
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c28bc7b06e
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Moved all Rot3 function implementations to cpp files instead of header files
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2012-01-01 23:46:34 +00:00 |
|
Richard Roberts
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171886cef9
|
Added missing header to Makefile.am
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2012-01-01 19:27:58 +00:00 |
|
Richard Roberts
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fb1c933418
|
Fixed comments in Rot3Q (were just copied and pasted from Rot3M)
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2012-01-01 19:27:29 +00:00 |
|
Frank Dellaert
|
f30a03b68f
|
Comment
|
2011-12-28 16:42:45 +00:00 |
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Richard Roberts
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a2ace4a434
|
Correction to comment
|
2011-12-22 17:29:57 +00:00 |
|
Richard Roberts
|
e0988ade11
|
Workaround for conflict between boost variant and graph in boost < 1.47
|
2011-12-22 17:29:00 +00:00 |
|
Richard Roberts
|
ffcbcb703d
|
Minimum trust region radius limit in Dogleg
|
2011-12-21 17:47:54 +00:00 |
|
Richard Roberts
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3d68672b20
|
Constant error of 2*fx instead of 0 when point is behind camera
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2011-12-21 17:47:03 +00:00 |
|
Richard Roberts
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cfb24048d9
|
Added accessor functions for robust and noise model in noiseModel::Robust
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2011-12-21 17:41:15 +00:00 |
|
Alex Cunningham
|
927217ba4b
|
Cleanup from FactorGraph-inl.h
|
2011-12-21 16:59:37 +00:00 |
|
Alex Cunningham
|
0c68a49395
|
Commented nonexistant constructors from SharedNoiseModel in gtsam.h
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2011-12-21 16:32:55 +00:00 |
|
Alex Cunningham
|
3ccb670e92
|
changed wrap install script to use correct flags for cp on macs
|
2011-12-21 14:06:37 +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
|
d76176c544
|
Removed mistakenly left-in print statements
|
2011-12-18 15:34:23 +00:00 |