61b1a9e88d
Merge branch 'develop' into feature/rot-print
2020-07-21 18:07:52 -05:00
ec993497f3
deprecate error in noisemodel, use loss instead; revise virtual with override
2020-07-12 23:09:13 -04:00
3d8641c0c3
Merge remote-tracking branch 'origin/develop' into feature/noisemodel_rename_functions
2020-07-09 14:26:39 -04:00
d7522ab970
moved matlab-style matrix format definition back to cpp, updated all formatters
2020-06-19 16:03:40 -05:00
65036b2019
Devirtualize hessianDiagonal
2020-06-03 20:07:14 -04:00
f2a7864fb6
Further optimization
2020-06-02 23:52:38 -04:00
9186e656a5
Zero initialize the allocated vector
2020-06-02 22:00:11 -04:00
151809c89c
replaced all find&insert to emplace
2020-06-02 21:33:58 -04:00
15fda68c1a
Use faster version of in-place add
2020-06-02 16:17:28 -04:00
50ffeb7dcd
Use find
2020-06-02 15:38:04 -04:00
f73429133a
Switched to in-place update of the diagonal Hessian
2020-06-02 12:44:57 -04:00
76b29b78af
Prefer C++11 nullptr
2020-04-06 23:31:05 +02:00
201539680f
remove distance in noisemodel, replace with error
2020-04-01 20:07:49 -04:00
1f43d73b34
make jacobian factor use noise model distance when available
2019-12-17 11:18:12 -08:00
5a358489dc
Some low hanging fruit changing `func(..., boost::optional<const Class &>)` to overloaded
...
`func(...)` and
`func(..., const Class &)`
not all done
Also, although it currently passes all tests, I think some more tests may be needed...
2019-10-13 23:59:50 -04:00
372ae8d092
Fixed up conversion from Hessian -> Jacobian to accommodate QPSolver (same solution as Ivan, now tested that it does not interfere with normal workings)
2019-04-25 00:46:20 -04:00
a450ba1e55
Merge remote-tracking branch 'origin/develop' into feature/LPSolver
...
# Conflicts:
# gtsam_unstable/linear/QPSVisitor.h
# gtsam_unstable/linear/RawQP.cpp
2019-04-24 16:08:50 -04:00
9ec714063a
many performance tweaks
2019-04-10 22:34:01 -04:00
1304d26e81
exit()-> throw ( Closes #427 )
2019-04-07 23:59:53 +02:00
2aa43e11bd
Use KeyVector everywhere to avoid conversions
2018-11-08 10:10:32 -05:00
b05bd66ba2
Fix the Jacobian factor constructor to work with the last QP tests.
2018-11-05 17:52:55 -05:00
a87ce9bac4
Fixed consistency checks
2018-09-28 11:20:55 -04:00
ab1f6562c8
Fixes compile errors when using BOOST version 1.61.0
2016-08-06 00:59:07 -04:00
fbe9aac41c
squash local changes on top of gtsam upstream pull from 6/14/2016
2016-06-18 23:13:59 -07:00
a0661b3813
Almost done. Still need to figure out how to remove the remaining 3 occurrences.
2016-05-21 12:44:46 -04:00
76308a5d46
Deprecated Vector zero(size_t n). All unit tests pass.
2016-04-15 16:54:46 -04:00
70b2aab352
Deprecated all inline functions in Matrix.h.
2016-04-11 15:11:29 -04:00
0372a959ee
Many small improvements, bug-fixes, and tests
2016-02-24 11:01:19 -08:00
cc0b7cfdc1
convert tabs to spaces. See https://bitbucket.org/gtborg/gtsam/wiki/C++%20Coding%20Conventions
2016-02-09 20:00:38 -05:00
0b2d4f1182
feature: change rowPrefix to an indent. Now all columns are aligned
2015-10-22 15:04:53 -04:00
1d44761e3c
Merged develop into feature/MatrixPrinting
2015-10-16 10:41:25 -04:00
82f6ca64a5
Merge remote-tracking branch 'origin/develop' into fix/zeroRowInQR
2015-06-15 01:09:19 -07:00
b68f763fe7
Merged in feature/LinearSolverCleanup (pull request #148 )
...
This has
- Separate Scatter class
- change from updateATA to updateHessian as a virtual method
- Fixed-size BinaryJacobianFactor that overloads updateHessian
- SFM Timing Script that takes BAL files
2015-06-15 01:08:02 -07:00
f523db2d98
IMPORTANT CHANGE/BUGFIX: QR elimination now (I think properly) leaves a row of zeros if the RHS after QR contains a non-zero. A corresponding change in the error calculation makes that Jacobian and Hessian factors now agree on error. I think this was a bug, because it affected the error, but (I think) it only pertained to "empty" JacobianFactors which have no bearing on optimization/elimination.
2015-06-15 00:55:53 -07:00
5771664622
Starting to diagnose issue with lower-left entry of Hessian
2015-06-14 16:01:54 -07:00
d0775faeba
Save slots to bring cost down from O(n^3) to O(n^2) - again, in theory. In practice, it did seem to help for larger HessianFactors (as expected).
2015-06-13 12:26:10 -07:00
f6575323d6
Sidestep Scatter altogether and just use HessianFactor keys_. In theory, n^3 lookup cost, but in practice (as keys is contiguous memory) just as fast as map.
2015-06-13 12:06:13 -07:00
c8cff296fb
Don't bother making an array
2015-06-13 09:01:13 -07:00
6664699c4c
getSlots method
2015-06-12 09:33:55 -07:00
b712a65c21
Updated gttic strings as well
2015-06-12 00:28:15 -07:00
41a0146b05
changed updateATA -> updateHessian. Much clearer
2015-06-12 00:20:37 -07:00
257060e8dd
Scatter class in separate compilation unit
2015-06-11 21:21:01 -07:00
39ffe3ac32
Made updateATA a virtual method for a small saving in CPU, but more importantly to allow for custom Jacobian or HessianFactors...
2015-06-10 15:53:43 -04:00
c75a76c705
Moved raw access method (possibly to be removed!) to base class as does not assume regular...
2015-06-08 20:30:55 -04:00
13a4da21b2
misc bugfixes and cleanup from skydio
2015-05-13 22:26:24 -07:00
445b5834dc
Use Eigen::format, now compatible with matlab, and stream precision affects printing.
2015-02-17 00:39:03 +01:00
e13243b140
Merge branch 'develop' into feature/RegularFactors
...
Conflicts:
gtsam/linear/GaussianFactorGraph.cpp
gtsam/linear/JacobianFactor.cpp
gtsam/linear/JacobianFactor.h
tests/testPreconditioner.cpp
2015-01-01 17:50:27 -05:00
2673e1664c
reapply a bug fix in isConstrained when no model exists
2014-12-13 01:05:24 -05:00
e539738fd0
Remove support for dual keys. Added finished() after all matrices and vectors. Remove buildDualGraph from GaussianFactorGraph. Remove support for multipliedHessians for non-linear equality constraints.
2014-12-12 17:23:31 -05:00
960d10582d
Add pure virtual function in GaussianFactor and empty dummy virtual function in Jacobian/Hessian Factor for the raw memory access functions
2014-11-17 16:17:11 -05:00
Varun Agrawal
yetongumich
Fan Jiang
Fan Jiang
Jose Luis Blanco Claraco
Mike Bosse
Gerry Chen
Frank Dellaert
dellaert
=
Abe
yao
Alex Hagiopol
Frank
Chris Beall
lvzhaoyang
Sungtae An
thduynguyen
krunalchande