3f937fdba4
changed include order to be more logical
2010-09-20 21:02:32 +00:00
55dedc97e3
Fixed include paths so that making individual unit tests works again
2010-09-11 16:54:50 +00:00
815d892806
Added TEST_UNSAFE to avoid exception checking in normal tests, as well as an assert_inequal() evaluation in TestableAssertions.h.
2010-08-30 20:54:12 +00:00
f594ebf562
Reworked testSerialization so that it works for geometry and simple planar objects. Currently only tested in boost 1.40, probably doesn't work under boost 1.44
2010-08-30 19:16:26 +00:00
a461680a2b
Removed extraneous headers that were causing problems related to boost serialization and added testSerialization with conditional compiling (--enable-serialization). Currently, the test is all commented out, and it should not affect those not using the flag.
2010-08-27 15:31:20 +00:00
23a30f8475
Removed remaining global lie functions on lie objects and configs, switched the Lie base class to a simple concept check function, fixed build script for examples. ISAM2 and MastSLAM verified as compiling.
2010-08-26 19:55:40 +00:00
eed13e48d2
Switched to using LieVectors for vector types. Still some problems with numericalDerivative that have been worked around, but other functionality is intact.
2010-08-24 17:26:56 +00:00
77eda5ab8c
In all nonlinear factors and configs, it is only necessary to specify a key with a typedef Value_t for the associated value. This has been removed from factor template definitions, as it is too easy to use the wrong value. Also, no more string keys or linear symbol keys in nonlinear systems. Updated MastSLAM to work, and ISAM2 works without change
2010-08-23 19:44:17 +00:00
5350f368cd
Removing binary
2010-08-23 03:44:25 +00:00
e0da1971fa
fixed ROS packages due to gtsam changes
2010-08-23 00:19:57 +00:00
458cc52fff
Switched geometry to use primarily member functions for calculations with optional derivatives, so there are no more optional derivative functions. Also split Vector specializations for Lie into gtsam/base/LieVector.h which will later change into a real wrapper function. Specialized numericalDerivative to allow for functions to return doubles. Projects ISAM2, MastSLAM updated.
2010-08-22 21:45:53 +00:00
c2d46ce8b3
Script to time the overhead of breaking up a problem into many factors (mimics a linear latent-variable model)
2010-08-21 17:54:59 +00:00
256697d345
Moved transform_[to|from] and [un]rotate to be static functions in classes
2010-08-20 21:47:30 +00:00
f1132359d4
Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs)
2010-08-19 17:23:19 +00:00
30c3f46b52
FusionTupleConfigs work correctly for optimization
2010-08-16 19:19:50 +00:00
977155d133
Added simpler interfaces for FusionTupleConfig for 1,2, and 3 variable types
2010-08-15 21:35:03 +00:00
a2fecf51c9
FusionTupleConfig is now a full config
2010-08-14 21:15:45 +00:00
f3ccfaf100
Added dummy initialization of LieConfigs from arbitrary other LieConfigs, FusionTupleConfigs can now be created from arbitrary other FusionConfigs.
2010-08-13 19:51:04 +00:00
f6dbee41d2
More of FusionTupleConfig works
2010-08-13 14:55:26 +00:00
c2a83759cb
Added experimental replacement for TupleConfig using boost.fusion - this should eventually make it possible to make nonlinear factors interchangable regardless of config type.
2010-08-12 15:23:03 +00:00
3fd36bca53
Added TupleConfig1 wrapper
2010-08-12 12:44:36 +00:00
5991d1edfd
Added a nonlinear factor to approximate a linear factor from MastSLAM
2010-08-10 16:59:22 +00:00
1c72d92365
Moved TransformConstraint into gtsam, cleaned up includes
2010-08-10 14:30:41 +00:00
4f9a60d41c
Nonlinear bounding constraints are now working for simple examples. Also, removed extraneous constraint test files.
2010-08-09 21:59:29 +00:00
efaca162cf
Added tests for nonlinear equality constraints, generalized equality constraints
2010-08-09 17:21:11 +00:00
38ea7d1ea5
Added more static optimization helper functions - can now just call optimizeLM(graph,config) or optimizeGN(graph,config) to get an optimized config.
2010-08-09 17:20:03 +00:00
0316a53f79
Removed spurious "using namespace noiseModel"
2010-08-08 03:10:29 +00:00
5ada49ea3a
Moved remaining equality constraint tests to testNonlinearEqualityConstraint. Added NonlinearEquality2, a binary constraint expressing exact equality between variables.
2010-08-06 20:07:55 +00:00
a55860eb1d
Reimplemented nonlinear constraints to remove the old dependency on using boost function pointers and allow for inequality and bounding constraints. Added simple equality constraints in simulated2D and new set of tests. Removed/disabled old tests until they can be worked into new structure.
2010-08-06 18:30:07 +00:00
7e3442286e
Added a Gauss-Newton static function for nonlinear optimization
2010-08-06 15:10:19 +00:00
3dfbb26bc7
Added new test structures that allow for nonfatal assertions: EXPECT, EXPECT_DOUBLES_EQUAL, EXPECT_LONGS_EQUAL. Use these to check several unrelated conditions in a test. testTupleConfig was updated to make use of the new test structures.
2010-08-06 14:23:12 +00:00
7c2ad06016
Added clear() and empty() to TupleConfig
2010-07-30 16:19:52 +00:00
d6157ab828
Added a static nonlinear optimization function that uses default ordering and thresholds and returns an updated config.
2010-07-22 21:17:02 +00:00
cf2b3db5a6
Added CHECK_EXCEPTION() that can test whether an operation throws a specific exception, and used it in example tests
2010-07-20 14:51:00 +00:00
d938f92844
Replaced instances of PairConfig with TupleConfig2, cleaned up documentation on TupleConfigs
2010-07-19 19:55:24 +00:00
2a2bc2f70f
multi-frontal solver works now as a result of flight delay
2010-07-18 20:23:23 +00:00
a3da89b63a
NonlinearConstraints are now implemented using the simple linearization method with quadratic merit function
2010-07-18 19:55:53 +00:00
230e124e68
Small changes to handle non out of source builds and makefile fixes.
2010-07-17 01:13:03 +00:00
3438f89526
Removed the ldl library and added in a configure flag --enable-ldl to pull in ldl. Currently, it's probably a bad idea to actually use ldl, however, and nothing important is effected by its absense.
2010-07-16 18:16:18 +00:00
b5c0f3cee8
Simplified Cluster class, elimination tree constructors tested, junction tree tests disabled for now.
2010-07-14 23:48:51 +00:00
20b09e5383
Re-organized FactorGraph, and de-templatized findAndRemoveFactors
2010-07-14 13:55:32 +00:00
c3a907127f
Created ClusterTree (duplicate of Junction tree for now, will split later). GaussianJunctionTree is no longer a template. TestJunctionTree now tests with SymbolicFactorGraph
2010-07-13 22:03:18 +00:00
30b377e441
Fix makefiles to refer to $(top_srcdir) to enable parallel build
2010-07-13 19:13:07 +00:00
559eaf8cc1
Moved smallExample to slam, as used in some project unit tests as well. [tests] no longer builds a local library as a consequence.
2010-07-13 05:26:19 +00:00
8ce5e321c8
Last part of re-organization for now: all things linear/Gaussian are now in the "linear" sub-directory.
2010-07-12 22:18:38 +00:00
f67220773a
split JunctionTree to GaussianJunctionTree
2010-07-12 21:34:03 +00:00
c9db61e137
Newly functional build: second part of re-organization. cpp now split into inference and nonlinear.
2010-07-12 16:36:58 +00:00
80149afc30
delete Makefile.ins
2010-07-12 07:48:26 +00:00
fea5beb638
Re-organization: moving all files.
...
I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests.
cpp will be further renamed/sub-divided and contains the core library.
I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 07:16:31 +00:00
Frank Dellaert
Richard Roberts
Alex Cunningham
Kai Ni