Commit Graph

2845 Commits (18e23c20dfc1c037e3119a7aa93968da928fae6c)

Author SHA1 Message Date
Alex Cunningham 843f11678b Recursive TupleConfig now has typedefs for 2-6 configs 2010-02-04 03:40:03 +00:00
Alex Cunningham 4e70f14097 The recursive TupleConfig should be ready for use now. 2010-02-04 02:04:45 +00:00
Kai Ni 550121013f fix const string problem in print 2010-02-03 20:12:16 +00:00
Alex Cunningham e5a7d4c878 More functionality in TupleConfigs 2010-02-03 14:08:09 +00:00
Alex Cunningham 94d50ddfb9 Added a liberal sprinkling of 'typename' to make TupleConfig work better 2010-02-03 13:57:34 +00:00
Alex Cunningham a66a405dd5 Partially implemented version of a recursive TupleConfig that is still very much under testing. 2010-02-03 13:47:13 +00:00
John Rogers 2f16d8f6a1 Changed the order of constructor initializers in GaussianFactor to remove compiler warnings 2010-02-01 16:04:14 +00:00
Kai Ni 090ed16432 copy libcolamd during installation 2010-02-01 00:11:28 +00:00
Frank Dellaert 5554f6fc7e Faster non-GSL versions of BLAS 2-style calls 2010-01-31 22:56:06 +00:00
Alex Cunningham efe51c8419 Fixed typo in function name 2010-01-31 21:09:03 +00:00
Alex Cunningham 2889a25aeb Fixed autotools files for GSL inclusion so that they don't include the wrong BLAS implementation when ATLAS is enabled 2010-01-31 18:26:18 +00:00
Alex Cunningham c266012dcd Added GSL/ATLAS version of multiplyAdd() and transposeMultiplyAdd() 2010-01-31 18:25:03 +00:00
justinca 74dd7128ac Fixup cholesky decomposition - rename to LLt and RtR to make convention clear 2010-01-31 18:07:29 +00:00
Alex Cunningham 87cc573d34 Added a new combine process for GaussianFactors that allocates only one matrix when combining, rather than using append factor to make a large number of smaller matrices. There is a flag to switch between these modes, which currently defaults to the older approach. Currently, there does not appear to be a performance improvement, however. 2010-01-31 17:49:33 +00:00
Alex Cunningham 9f16d7b07f Added in-place sub insert function to Vector 2010-01-31 17:24:01 +00:00
Alex Cunningham 48d2dabe43 Added in-place insertion functions to Matrix, as well as a #define flag to enable or disable GSL code without a reconfigure. 2010-01-31 17:21:07 +00:00
Alex Cunningham b5ca322d21 Added default tolerance value to equals in Key classes so that equals() works properly 2010-01-31 17:00:27 +00:00
Frank Dellaert fa6a515bfd SAM was substantially sped up by inlining VectorConfig::insert 2010-01-31 16:05:16 +00:00
Frank Dellaert 5e4b23df59 Matrix::multiplyAdd and transposeMultiplyAdd are "level 2" BLAS and speed up the numeric part of the code substantially. Alex might be able to speed them up even more by making them use real BLAS code within Matrix.cpp. 2010-01-31 16:04:24 +00:00
Frank Dellaert 3b6c4917a9 GaussianBayesNet::backSubstituteInPlace 2010-01-31 04:39:41 +00:00
Frank Dellaert ac870bce4c GaussianFactor::transposeMultiplyAdd 2010-01-31 03:33:53 +00:00
Frank Dellaert 4f998e5ecd Matrix::transposeMultiplyAdd 2010-01-31 02:53:03 +00:00
Frank Dellaert 9b4ff5e099 transposeMultiplyAdd provied BLAS-style call for iterative speed 2010-01-30 23:59:29 +00:00
Frank Dellaert 6ef09583b9 multiplyInPlace shaves a few seconds off but is fairly dangerous - I feel ambivalent.... 2010-01-30 17:31:05 +00:00
Frank Dellaert 161a47caa7 2010-01-30 05:22:17 +00:00
Frank Dellaert 881d739371 BLAS level 1 style "scal" saves even more time in PCG 2010-01-30 04:01:49 +00:00
Frank Dellaert 4913326c22 BLAS level 1 style axpy calls in Vector and VectorConfig shave some seconds off PCG 2010-01-30 02:04:37 +00:00
Frank Dellaert 65bc90bf15 timing VectorConfig to speed up iterative 2010-01-29 13:57:45 +00:00
Alex Cunningham eb88a149a1 NonlinearFactors handle constrained noise models properly now, as before they would try to whiten and fail 2010-01-28 17:21:24 +00:00
Viorela Ila 06a062c931 Added special lines for static variables needed for template classes 2010-01-27 19:45:31 +00:00
Alex Cunningham f8d934eaa1 Fixed issue with configure script for enabling gsl and atlas 2010-01-27 14:37:45 +00:00
Kai Ni 53cb1cca84 add some documentation 2010-01-27 05:22:17 +00:00
Kai Ni ed45d436be add gsl and atlas to configure 2010-01-27 05:15:52 +00:00
Alex Cunningham bc2a25385f Added updated timing results. 2010-01-27 05:08:54 +00:00
Alex Cunningham 59c7ce7e29 Integrated householder-based QR into NoiseModel. Note that the examples for GFG have changed to ensure that they are actually a linearized version of the nonlinear example. 2010-01-27 04:39:35 +00:00
Frank Dellaert 98b825ddbd Fixed loading of datasets 2010-01-27 03:41:23 +00:00
Frank Dellaert ae073c0120 Comments, and better test of composePoses 2010-01-27 02:49:58 +00:00
Frank Dellaert 8b87eebba6 commented GSl bit 2010-01-27 01:03:49 +00:00
Richard Roberts 3dd6f5adf1 Math doc now matches code but doc is fairly rough right now 2010-01-26 20:54:03 +00:00
Richard Roberts 02210cc7e0 Argument order of load changed 2010-01-26 20:31:25 +00:00
Richard Roberts 9b62b326c9 One more fix, inverse was actually needed in one case. 2010-01-26 20:10:45 +00:00
Richard Roberts b82d054aaa Definitions of Lie::between, Pose2::compose, expmap, and derivatives were not correct. Fixed, but changes some behavior (iSAM and CitySLAM already fixed), will send email about this change. 2010-01-26 20:00:17 +00:00
Frank Dellaert 74828669b5 hairy derivative math moved from libraries/caml/geometry, with exmap on right now 2010-01-25 21:04:26 +00:00
Manohar Paluri a0b96e7684 corrected case of Pose2SLAMoptimizer 2010-01-25 14:50:25 +00:00
Kai Ni 1685920d52 fixed Ab2 bug 2010-01-23 05:29:04 +00:00
Frank Dellaert afa964b8db Fixed sparse bug 2010-01-23 05:16:29 +00:00
Kai Ni 744269343f add print 2010-01-23 04:46:00 +00:00
Kai Ni b092fee64b pose2slamoptimizer unit tests worked 2010-01-23 03:49:05 +00:00
Richard Roberts 21c1af2b9f Collecting more statistics in isam2, logmap for configs 2010-01-23 01:53:04 +00:00
Kai Ni 4491db99be add beijing data set 2010-01-23 01:10:12 +00:00