Richard Roberts
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b0508cc1a8
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Removed JacobianFactorGraph - moved its linear algebra interface to GaussianFactorGraph and redirected all uses of it to GaussianFactorGraph
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2012-09-04 22:42:09 +00:00 |
Stephen Williams
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1a8dc9bdcc
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Only execute the RemoveVariables code in iSAM2 if there actually are variables to remove.
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2012-08-01 21:31:19 +00:00 |
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Stephen Williams
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4b3edb0889
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Wrapped iSAM2
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2012-07-19 19:50:00 +00:00 |
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Richard Roberts
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384f50f1fe
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Removed debug-only variable in iSAM2 that was causing a crash when gtsam was compiled with NDEBUG defined and a project compiled without it defined, or vice-versa
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2012-07-10 22:42:28 +00:00 |
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Richard Roberts
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59c6234d4f
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Reworked variable removal in iSAM2 to hopefully fix difficult bug
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2012-07-06 18:33:01 +00:00 |
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Stephen Williams
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134951f21c
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In iSAM2, added a check in the Batch-mode path that checks if linearized factors should be stored for performance reasons. Without this, factors were cached in batch-mode but not in the normal incremental-mode, leading to inconsistency
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2012-07-05 18:59:10 +00:00 |
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Stephen Williams
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f55612d381
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Moved the 'markKeys' generation in iSAM2 until after the call to RemoveVariables. Since the 'RemoveVariables' function permutes the ordering, this ensures markedKeys uses the correct indices
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2012-07-05 18:50:09 +00:00 |
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Stephen Williams
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f575cb4cc0
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Fixed bug in iSAM2 where variables are deleted inside of iSAM2 even though they appear in the set of new, incoming factors
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2012-07-05 18:37:08 +00:00 |
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Richard Roberts
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806d86513d
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Fixed bug in iSAM2 variable removal where removed variables still became marked when marking relin-affected variables
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2012-07-05 17:08:05 +00:00 |
|
Richard Roberts
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96fc5991db
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Automatic removal of unused variables in iSAM2 working in unit tests!
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2012-06-30 22:32:49 +00:00 |
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Richard Roberts
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57ca7d77db
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Removed Permuted views to simplify a lot of code - all objects that need to be permuted now have their data rearranged instead of using the "Permuted" indirection class.
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2012-06-30 01:45:21 +00:00 |
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Stephen Williams
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c7ff913f64
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Added yet another configuration parameter to iSAM2. 'enablePartialRelinearizationCheck' checks variables for relinearization by descending the Bayes tree. Once a variable does not need to be relinearized, we stop checking that branch. A full check is still the default.
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2012-06-28 20:46:53 +00:00 |
Yong-Dian Jian
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a9c36fc172
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move linear algebra functions for jacobian factor graph to a new file
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2012-06-07 01:24:19 +00:00 |
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Richard Roberts
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8f43298d21
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Whitespace
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2012-05-24 20:11:45 +00:00 |
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Richard Roberts
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1ce95c1d89
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Removed LDL in favor of Cholesky
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2012-05-15 15:49:14 +00:00 |
Alex Cunningham
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cb017fee80
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tested and documented ability to swap factors with ISAM2
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2012-05-01 18:54:44 +00:00 |
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Richard Roberts
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792c8ee55a
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Detailed results optionally returned by ISAM2::update, with the status of each variable
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2012-04-12 03:04:32 +00:00 |
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Richard Roberts
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91e7dc5882
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Caching linearized factors in iSAM2, improves speed when linearization is expensive
Merge remote-tracking branch 'svn/branches/iSAM2_cache_linearized' into trunk
Conflicts:
.cproject
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2012-04-11 14:17:59 +00:00 |
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Richard Roberts
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45f2101f48
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Fixed deep copy in iSAM2 and added unit test to reproduce problem
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2012-04-06 18:56:07 +00:00 |
|
Richard Roberts
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14d20cff0b
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Bug fix when getting nonlinear error debug statistics
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2012-04-03 23:20:03 +00:00 |
|
Richard Roberts
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7226f910bb
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Bug fix when relinearizing on first step in iSAM2
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2012-04-03 22:06:06 +00:00 |
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Stephen Williams
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4d9542dc70
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Fixed compile warning
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2012-04-02 20:04:43 +00:00 |
|
Richard Roberts
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ba8fb0ba27
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iSAM2 factorization parameter to choose LDL or QR
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2012-03-27 23:30:19 +00:00 |
|
Richard Roberts
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3baba11815
|
Fine-grained ordering constraints in iSAM2
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2012-03-24 16:52:55 +00:00 |
|
Richard Roberts
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5862943a8a
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Timing statements and avoiding recalculating dimensions
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2012-03-22 06:18:38 +00:00 |
|
Richard Roberts
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b1d4552781
|
Timing statements
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2012-03-19 16:55:52 +00:00 |
|
Richard Roberts
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6356647665
|
Bug fixes and using wildfire with Dogleg
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2012-03-19 16:25:03 +00:00 |
|
Richard Roberts
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670117cfe7
|
Compiles and passes unit tests
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2012-03-19 14:32:37 +00:00 |
|
Richard Roberts
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c695b23e36
|
In progress - updating dogleg computations incrementally
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2012-03-18 05:13:40 +00:00 |
|
Richard Roberts
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4c2581f40e
|
In progress
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2012-03-17 23:57:44 +00:00 |
|
Richard Roberts
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047dda05d7
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Removed ISAM2 templating
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2012-03-17 23:57:42 +00:00 |
|
Richard Roberts
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99c3371474
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In progress
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2012-03-16 20:55:21 +00:00 |