19dc8bf4b1
Fixed size() crash when BayesTree empty, added clear() function to BayesTree, added and removed #includes to fix link errors
2010-01-20 04:23:35 +00:00
e767996b45
same bug fix as in ISAM2
2010-01-20 03:54:20 +00:00
55e414cbdd
Tried noalias() for collect(), but no real improvement
2010-01-20 03:25:55 +00:00
3bf15333af
move ordering into the solver, and the nonlinear optimizer is now exact <G, T, L>
2010-01-20 02:28:23 +00:00
03ec3e3e62
Implemented a version of collect() using matrix_range, but it had worse performance than memcpy. New version of vector_scale[column] with new pointer arithmetic implementation for approx 20% improvement.
2010-01-20 02:28:25 +00:00
820ae5682d
Optimized row version of vector_scale with approx 20% improvement
2010-01-20 02:04:25 +00:00
ecde508318
incremental nonlinear working
2010-01-20 01:52:40 +00:00
b860f06614
Switched Matrix::collect() over to a memcpy, but the results weren't actually an improvement
2010-01-20 01:42:36 +00:00
d2291a38d1
bug fixes after COLAMD activiation: BayesTree::insert was wrong, BayesTree::removeTop/Path fixed and simplified
2010-01-20 01:24:32 +00:00
66607897a5
Added vector_scale timing benchmarks
2010-01-20 01:05:40 +00:00
ff83a7b18e
Fixed compile error in testNoiseModel
2010-01-20 01:05:18 +00:00
b47438a86c
Smart named constructors Covariance/Variances/Variance
2010-01-20 00:26:49 +00:00
f577b27f52
Small optimizations on Matrix::collect(), additional timing capabilities, and now collect() can have dimensions specified to avoid need for lookup.
2010-01-19 21:49:22 +00:00
67878830a6
Added timeMatrix.cpp to test specific matrix operations
2010-01-19 20:59:22 +00:00
3cdbaf81c7
Factorgraph-specific QR factorization now done by the NoiseModel: slow Gram-Schmidt for Constrained, fast Housholder for any other (Gaussian) model.
2010-01-19 19:06:02 +00:00
6f2b5a904a
save on fabs
2010-01-19 19:04:37 +00:00
9f4da004c2
got rid of verbose printing
2010-01-19 19:04:18 +00:00
fb0ca07bf1
Added and tested whitening parameter for matrix() and matrix_augmented()
2010-01-19 16:52:01 +00:00
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
Richard Roberts
Michael Kaess
Alex Cunningham
Kai Ni
Frank Dellaert