Duy-Nguyen Ta
|
6f4c95a65b
|
apply bug fixes in MATLAB wrapper shared_ptr return from trunk. All tests work now.
|
2012-02-06 03:29:14 +00:00 |
Richard Roberts
|
811be62ed3
|
Working on templating factors on Value type instead of key type
|
2012-02-06 00:44:25 +00:00 |
|
Duy-Nguyen Ta
|
f4515d7b30
|
put back Value in slam sub-namespaces for the wrapper to interface with MATLAB. Cannot solve the return shared_ptr problem in NonlinearOptimizationParameters::newDecreaseThresholds
|
2012-02-05 22:34:35 +00:00 |
|
Duy-Nguyen Ta
|
563e8fe77c
|
correct PinholeCamera serialization problem. Add detailed comments for serialization in Value.h
|
2012-02-03 21:34:07 +00:00 |
|
Richard Roberts
|
3d9e818d1e
|
(2.0_prep branch) Merged in additional changes from virtual_values branch r8901-r8902
|
2012-02-03 17:20:23 +00:00 |
|
Richard Roberts
|
820b33bd55
|
(2.0_prep branch) Merged in virtual_values branch
|
2012-02-03 17:18:32 +00:00 |
|
Richard Roberts
|
26cdf28421
|
Renamed DynamicValues to Values and removed specialized derived Values classes
|
2012-02-02 16:16:46 +00:00 |
Alex Cunningham
|
28f2276cc4
|
Added flag to link against local convenience libraries for tests
|
2012-01-31 19:59:19 +00:00 |
|
Alex Cunningham
|
c43a9b4852
|
Added a variety of options to the cmake build, working on automating wrap execution/install
|
2012-01-31 19:59:15 +00:00 |
|
Alex Cunningham
|
6c87006b6a
|
Forced testSerialization to always get run to avoid serialization breaking whenever the library changes
|
2012-01-31 19:59:11 +00:00 |
|
Alex Cunningham
|
910beebb8f
|
Added wrap to build, assorted cleanup
|
2012-01-31 05:28:03 +00:00 |
|
Alex Cunningham
|
03b4743e7a
|
Removed unnecessary cpp file in vSLAMexample, added CMake support for examples, used static linking to the real gtsam for tests
|
2012-01-31 05:28:02 +00:00 |
|
Alex Cunningham
|
e45514e858
|
added tests folder to cmake build, fixed testSerialization due to namespace changes, set up linking with boost
|
2012-01-31 05:28:00 +00:00 |
Stephen Williams
|
4c54d05da9
|
Fixed index bug in ExtendedKalmanFilter unit test
|
2012-01-30 23:37:47 +00:00 |
Chris Beall
|
537a1a3fae
|
Matlab wrapped classes now live within the gtsam namespace, meaning you have to use gtsamPose2 instead of just Pose2 in Matlab. This fixes the Point2 and Point3 issues we had with Matlab 2011b.
promote pose2SLAM planarSLAM etc. namespaces to be next to gtsam instead of within
|
2012-01-30 22:00:13 +00:00 |
|
Richard Roberts
|
51dca5b2d0
|
(in branch) Fixed Value base class assignment operator, ISAM2 expmap function, and unit tests
|
2012-01-30 21:23:02 +00:00 |
|
Duy-Nguyen Ta
|
f86da6f983
|
testProjectionFactor and testVSLAM passed. Remaining unpassed tests: GaussianISAM2, NonlinearFactorGraph (colamd failed), SPCG
|
2012-01-30 16:46:36 +00:00 |
|
Duy-Nguyen Ta
|
98f2d47f58
|
most tests passed, except testPose2SLAMwSPCG, testGaussianISAM2, testNonlinearEquality, testNonlinearFactorGraph, testProjectionFactor, testVSLAM
|
2012-01-30 04:34:46 +00:00 |
|
Duy-Nguyen Ta
|
2db224df3c
|
All compiled! Only SPCG and linear/SubgraphSolver are not fixed.
|
2012-01-29 22:10:35 +00:00 |
|
Duy-Nguyen Ta
|
5b5bbfdfff
|
testSimmulated2D passes. Too many warnings in boost from clang!
|
2012-01-29 21:12:58 +00:00 |
|
Alex Cunningham
|
67aa0bf63d
|
Fixed compile problems with NonlinearOptimizationParameters, removed redundant typedef
|
2012-01-29 01:24:27 +00:00 |
|
Alex Cunningham
|
93b1619c81
|
updated serialization test for pinhole camera
|
2012-01-29 00:03:45 +00:00 |
|
Chris Beall
|
63dc9399b9
|
refactored Pose2SLAM
|
2012-01-28 02:31:44 +00:00 |
Frank Dellaert
|
ba34a43b1c
|
wrapped new KF style and fixed test
|
2012-01-27 22:20:43 +00:00 |
|
Richard Roberts
|
b3df8d336a
|
For ASPN release, added temporary ENABLE_SPCG flag to avoid conflict with boost::variant
|
2012-01-27 16:43:31 +00:00 |
|
Frank Dellaert
|
852bb149ce
|
documentation
|
2012-01-22 06:28:11 +00:00 |
|
Richard Roberts
|
e0e3875ff9
|
Values and TupleValues throw error if attempting to insert the same key twice, also improved error handling with specific exception types.
|
2012-01-06 18:58:20 +00:00 |
|
Alex Cunningham
|
2572265096
|
Added noisemodel syntactic sugar so that matlab interface examples and tests work
|
2012-01-04 16:18:38 +00:00 |
|
Alex Cunningham
|
94049675a4
|
pacified warnings
|
2012-01-03 19:20:42 +00:00 |
|
Richard Roberts
|
18a1a98859
|
Ability to manually constrain specified variables to end of ordering in iSAM2
|
2012-01-03 19:14:00 +00:00 |
|
Richard Roberts
|
6c6409b81a
|
Ability to remove factors from iSAM2
|
2012-01-03 17:50:48 +00:00 |
|
Richard Roberts
|
b9bd2e61d8
|
Simplified Rot3 by having only one implementation available at a time
|
2012-01-02 20:24:23 +00:00 |
|
Richard Roberts
|
fa4af2e211
|
Merged Rot3M.h and Rot3Q.h into Rot3.h, which now defines both Rot3M and Rot3Q.
|
2012-01-02 02:24:29 +00:00 |
|
Alex Cunningham
|
927217ba4b
|
Cleanup from FactorGraph-inl.h
|
2011-12-21 16:59:37 +00:00 |
|
Stephen Williams
|
7c87a4f58d
|
Included the inline header at the bottom of SubgraphSolver, NonlinearFactorGraph, NonlinearOptimization, and NonlinearOptimizer. This avoids having to include the '-inl.h' in subsequent projects.
|
2011-12-20 23:25:43 +00:00 |
|
Richard Roberts
|
64c0606f21
|
Merged incremental dogleg, updated ASPNtests and GeneralFlow projects for new ISAM2Params. Refactoring of BayesTree. Added many, but not all, #includes of -inl.h files at bottom of .h files, and removing includes of -inl.h files from .cpp files and other -inl.h files.
|
2011-12-15 20:14:21 +00:00 |
|
Alex Cunningham
|
17bf0f0169
|
Added static and shared versions of gtsam
|
2011-12-15 16:17:58 +00:00 |
|
Richard Roberts
|
2fff75562f
|
(in branch) Merged from trunk r8058-r8097
|
2011-12-15 15:53:05 +00:00 |
|
Richard Roberts
|
21140ea0d5
|
(in branch) incremental dogleg bug fix and unit test (wasn't computing Gauss-Newton point)
|
2011-12-15 15:37:52 +00:00 |
|
Richard Roberts
|
f3de9e425f
|
(in branch) first pass at Dogleg in ISAM2, bug(s) remaining
|
2011-12-15 00:08:57 +00:00 |
|
Alex Cunningham
|
5dd461c5b1
|
Added make check equivalent
|
2011-12-14 02:24:23 +00:00 |
|
Alex Cunningham
|
61d05813ff
|
Library now builds and all tests run with cmake
|
2011-12-14 02:24:21 +00:00 |
|
Richard Roberts
|
dace9e213c
|
(in branch) Start of unit test for incremental gradient calculation
|
2011-12-13 22:54:11 +00:00 |
|
Richard Roberts
|
88c3e81a7d
|
(in branch) bug fix and unit test in permutation bug introduced during BayesTree Clique refactoring
|
2011-12-13 18:46:31 +00:00 |
|
Richard Roberts
|
8d5facb09e
|
(in branch) make check passes after refactoring and code changes for including -inl.h files from .h files
|
2011-12-12 23:19:31 +00:00 |
|
Richard Roberts
|
3b139cbae2
|
(in branch) Merged from trunk r7960-r8057
|
2011-12-12 16:03:52 +00:00 |
|
Duy-Nguyen Ta
|
e036dd460e
|
support cloning (deep copy) for ISAM2
|
2011-12-06 16:21:57 +00:00 |
|
Alex Cunningham
|
ec4cfdf065
|
Added a test runner script for matlab unit tests
|
2011-12-01 01:59:39 +00:00 |
|
Richard Roberts
|
a0abe68b64
|
(in branch) Merged from trunk r7760-r7959
|
2011-11-29 17:02:02 +00:00 |
|
Alex Cunningham
|
8bc83d4219
|
Changed -inl.h use with Values and TupleValues, removed instantiation macros for Values and TupleValues
|
2011-11-17 22:44:46 +00:00 |
|
Alex Cunningham
|
96f77466c6
|
Removed need to include -inl.h for isam variants
|
2011-11-17 21:20:04 +00:00 |
|
Alex Cunningham
|
ba22799b67
|
Removed unnecessary includes
|
2011-11-17 18:45:41 +00:00 |
|
Richard Roberts
|
e6a43d6330
|
(in branch) Dogleg in ISAM2 in progress
|
2011-11-12 21:19:46 +00:00 |
|
Alex Cunningham
|
bdc2d8f996
|
Fixed switching to QR for constrained graphs
|
2011-11-10 19:44:03 +00:00 |
|
Alex Cunningham
|
0fe13ae3ca
|
Fixed noisemodel compile error, moved remaining nonlinear constraints to NonlinearEquality
|
2011-11-10 02:05:03 +00:00 |
|
Alex Cunningham
|
98410ca5c9
|
Merge branch 'unified_constraints'
Conflicts:
gtsam/linear/NoiseModel.cpp
gtsam/linear/NoiseModel.h
gtsam/linear/tests/testNoiseModel.cpp
|
2011-11-09 22:15:40 +00:00 |
|
Richard Roberts
|
716c5175ab
|
Quaternion implementation of Rot3, made default with GTSAM_DEFAULT_QUATERNIONS
|
2011-11-09 01:40:20 +00:00 |
|
Richard Roberts
|
3cd3a06eb7
|
Unit test bug fix - wasn't a rotation matrix
|
2011-11-09 01:39:18 +00:00 |
|
Alex Cunningham
|
d340e556b5
|
Fixes due to bad merge
|
2011-11-07 21:16:26 +00:00 |
|
Alex Cunningham
|
8592e6b2c6
|
Renamed LieValues, changed Lie interface
|
2011-11-07 20:23:20 +00:00 |
|
Alex Cunningham
|
42a3963c7e
|
Merge branch 'master' into retraction_name
|
2011-11-06 19:40:48 +00:00 |
|
Alex Cunningham
|
5798868ab7
|
Changed LieValues->Values. Did not change Values typedefs in slam domains, just adjusted namespaces
|
2011-11-06 19:08:42 +00:00 |
|
Richard Roberts
|
26dd292872
|
Enabled DogLeg unit test and made DogLeg verbose printing controlled by a flag
|
2011-11-06 18:26:47 +00:00 |
|
Alex Cunningham
|
4284f07a61
|
Updates to dogleg to work with newer Lie/Manifold/Group interface
|
2011-11-05 23:01:50 +00:00 |
|
Alex Cunningham
|
1ec7d7e86e
|
Merge branch 'master' into retraction_name
|
2011-11-05 23:01:48 +00:00 |
|
Alex Cunningham
|
2b9a3db085
|
Added Group concept, reworked naming and conventions to reduce unnecessary functions
|
2011-11-05 23:01:43 +00:00 |
|
Richard Roberts
|
53dfa5dbb9
|
Merging Dogleg into trunk
|
2011-11-05 21:29:02 +00:00 |
|
Alex Cunningham
|
97a82add25
|
make check for entire library now works
|
2011-11-04 21:44:34 +00:00 |
|
Frank Dellaert
|
28415ee219
|
Added EQUALITY for MATLAB tests
|
2011-11-04 00:27:43 +00:00 |
|
Frank Dellaert
|
cbd6446bd7
|
Wrapped KalmanFilter and tested it in MATLAB
|
2011-11-04 00:27:02 +00:00 |
|
Richard Roberts
|
5408ab0a2d
|
Made GaussianFactorGraph::sparse and sparseJacobian functions take no arguments, and instead compute column indices internally
|
2011-10-29 23:12:58 +00:00 |
|
Richard Roberts
|
eb8fb31b2a
|
VectorValues documentation and interface cleanup, additional unit tests and bug fix.
|
2011-10-29 18:53:08 +00:00 |
|
Frank Dellaert
|
65616dbde5
|
Matrix version of sparseJacobian for MATLAB wrapping, unit-tested in linear now
|
2011-10-29 04:01:03 +00:00 |
|
Richard Roberts
|
c120ee93f6
|
Added unit tests for higher-ary NonlinearFactors
|
2011-10-26 02:07:35 +00:00 |
|
Richard Roberts
|
2c53df3ee7
|
Simplified VectorValues interface and implementation, slight simplification to Permuted<>
|
2011-10-26 02:04:06 +00:00 |
|
Frank Dellaert
|
7c55724ddd
|
Doxygen
|
2011-10-22 19:57:36 +00:00 |
Manohar Paluri
|
5016ca4f25
|
Added determinant function to GaussianBayesNet and added a unit test
|
2011-10-21 21:45:40 +00:00 |
|
Frank Dellaert
|
8535b13809
|
Made error a method again: all checks, let me know if project throw errors
|
2011-10-21 05:36:30 +00:00 |
|
Frank Dellaert
|
ce5751e454
|
Moved test here from gtsam_experimental, as now works
|
2011-10-21 05:35:30 +00:00 |
|
Alex Cunningham
|
3b5c6e8cef
|
Removed old Testable base class
|
2011-10-20 02:11:28 +00:00 |
|
Frank Dellaert
|
56d1d6ae34
|
Fixed some Doxygen problems with global replace
|
2011-10-14 03:23:14 +00:00 |
|
Richard Roberts
|
af3c12a7df
|
Implemented N-way factor base class in NoiseModelFactor, added NonlinearFactor{3-6}, adapted NonlinearFactor1,2,3 and NonlinearConstraint1,2,3 to derive from NoiseModelFactor in a minimal way
|
2011-10-03 04:24:24 +00:00 |
|
Richard Roberts
|
63ca74e492
|
Fixed bug in multifrontal marginals caused by backwards permutations with LDL (seems to be an inconsistency in Eigen?). Added GaussianConditional constructor from any number of frontal and parent variables. Added several new unit tests on marginals. Fixed small bug in GaussianConditional non-const get_d_ and get_R_ functions that didn't account for multiple frontal variables.
|
2011-09-23 02:50:46 +00:00 |
|
Richard Roberts
|
222d5073b9
|
Relocated unit test
|
2011-09-23 02:48:34 +00:00 |
|
Alex Cunningham
|
4569bb41a3
|
Fixed serialization of stereo cameras
|
2011-09-12 15:30:31 +00:00 |
|
Richard Roberts
|
936ee6d9fd
|
ISAM2 refactoring and documentation
|
2011-09-07 15:42:49 +00:00 |
|
Frank Dellaert
|
b614f6bf42
|
header order
|
2011-09-03 04:47:43 +00:00 |
|
Frank Dellaert
|
04e41f8c38
|
Split off NoiseModelFactor (a NonlinearFactor with a NoiseModel) from NonlinearFactor (a Factor with dim, linearize, and symbolic methods). NonlinearConstraint derives from NoiseModelFactor.
|
2011-09-03 03:46:19 +00:00 |
|
Frank Dellaert
|
0c34b57b92
|
removed spurious typename
|
2011-09-02 13:53:36 +00:00 |
|
Richard Roberts
|
06fd0335cc
|
ISAM2 parameters struct instead of function arguments and hard-coded values, also documentation improvement and refactored IndicesFromFactors
|
2011-09-01 21:53:57 +00:00 |
|
Stephen Williams
|
b1c1b45aba
|
Renamed Key and Values to have a common name between linear and nonlinear examples
|
2011-08-30 19:54:50 +00:00 |
|
Richard Roberts
|
059de23b6e
|
Moved ISAM2 from inference to nonlinear
|
2011-08-30 17:15:50 +00:00 |
|
Duy-Nguyen Ta
|
f45b1556ca
|
typedef typename ... doesn't compile for me. Removing typename makes it work.
|
2011-08-29 19:22:11 +00:00 |
|
Stephen Williams
|
27d062a0f0
|
Fixed compile errors due to new SharedGaussian definition
|
2011-08-27 13:50:35 +00:00 |
|
Stephen Williams
|
82fdb0a5f8
|
Added ExtendedKalmanFilter class and easyPoint2KalmanFilter example
|
2011-08-27 12:28:47 +00:00 |
Yong-Dian Jian
|
fd07d61a2e
|
Add a robust noise model. Change SharedGaussian to SharedNoiseModel
|
2011-08-26 21:41:01 +00:00 |
|
Richard Roberts
|
d329d06b77
|
(in branch) moved ISAM2 into main gtsam library
|
2011-08-18 18:06:35 +00:00 |
|
Frank Dellaert
|
964af8b21c
|
Commented use of GTSAM_MAGIC_KEY
|
2011-08-18 13:18:26 +00:00 |
|
Alex Cunningham
|
778001f63e
|
assorted cleanup - mostly comments and adding implementations to cpp files, rather than in header files
|
2011-06-13 20:01:58 +00:00 |
|
Alex Cunningham
|
322f61c537
|
added flags for dataset timing tests to change the number of trials
|
2011-06-13 17:14:24 +00:00 |
|
Alex Cunningham
|
fa4faa274a
|
Merge branch 'prep_0.9.3'
|
2011-06-13 16:55:31 +00:00 |
|
Alex Cunningham
|
36f9ebae90
|
Removed files full of broken code, removed simulated2D matlab files, condensed slam unit tests, added the only known test for SPCG in gtsam
|
2011-06-04 20:42:29 +00:00 |
|
Alex Cunningham
|
c4d9208eeb
|
Added serialization for most linear/inference structures, simulated2D - serialization, except for example domains, should be complete
|
2011-06-04 16:52:54 +00:00 |
|
Richard Roberts
|
265b057580
|
Removed key sorting from NonlinearFactor
|
2011-06-04 14:54:27 +00:00 |
|
Alex Cunningham
|
c44315fec8
|
Added more serialization - geometry is done, jacobian and hessian factors done, visual system done. Split projection factor out from visual SLAM into separate header
|
2011-06-03 21:32:27 +00:00 |
|
Alex Cunningham
|
9160775d2a
|
Added nonlinear constraints to gtsam library
|
2011-06-03 15:07:11 +00:00 |
|
Alex Cunningham
|
e9b8a48c43
|
ccolamd now installs and works with gtsam - all tests pass
|
2011-06-02 14:35:26 +00:00 |
|
Alex Cunningham
|
040493474f
|
added more serialization
|
2011-05-20 18:43:42 +00:00 |
|
Alex Cunningham
|
e20561be73
|
Merge branch 'eigen'
|
2011-05-20 13:52:08 +00:00 |
|
Alex Cunningham
|
d35eb581ee
|
Removed experimental cmake files - see the branch cmake_build
|
2011-05-19 19:16:03 +00:00 |
|
Yong-Dian Jian
|
85ff7853eb
|
experimental cmake support for linux
|
2011-05-09 16:53:08 +00:00 |
|
Richard Roberts
|
5057138ef1
|
Returning GaussianFactor instead of JacobianFactor from NonlinearFactor::linearize and NonlinearFactorGraph::linearize, so that HessianFactors may be returned as well.
|
2011-04-12 21:18:10 +00:00 |
|
Richard Roberts
|
f5eac05add
|
Merged factorization branch - sequential and multifrontal factorization with a function argument to specify the elimination method
|
2011-03-29 21:32:22 +00:00 |
|
Richard Roberts
|
07820af903
|
Fixed crashes when doing linearize/solve on nonlinear factor graphs with NULL factors
|
2011-03-29 19:51:50 +00:00 |
|
Frank Dellaert
|
5c193422af
|
Major change, elimination functions are now passed an "Eliminate function", so you can select at run-time which factorization method is used (symbolic, QR, etc...).
|
2011-03-24 19:27:12 +00:00 |
|
Alex Cunningham
|
726bed11b8
|
Removed exports for SharedGaussian and SharedDiagonal and moved them to testSerialization
|
2011-03-08 19:19:21 +00:00 |
|
Alex Cunningham
|
fc3b668171
|
Removed boost.serialization export keys from noisemodel because they don't work outside of one test
|
2011-03-08 18:13:49 +00:00 |
|
Alex Cunningham
|
1c1e47ca1f
|
Added serialization export keys directly to NoiseModel
|
2011-03-04 14:56:18 +00:00 |
|
Alex Cunningham
|
a87a52035d
|
Serialization for (some) nonlinear factors now works, added virtual destructors to factor classes that needed them.
|
2011-03-03 17:16:13 +00:00 |
|
Alex Cunningham
|
cee6b4523e
|
Improved serialization for noisemodel and NonlinearFactors, however currently fails on NonlinearFactorGraphs and some factors
|
2011-02-23 20:31:19 +00:00 |
|
Alex Cunningham
|
4865f1a64d
|
Added more serialization functionality to noiseModel, but SharedGaussians segfault on test, so tests for Nonlinear graphs are commented out
|
2011-02-23 05:19:07 +00:00 |
|
Richard Roberts
|
1c27b1021f
|
Removed incorrect dynamic_pointer_cast that caused a compile error for non-virtual derived factors.
|
2011-02-18 22:10:21 +00:00 |
|
Alex Cunningham
|
d8f05f78ff
|
Added marginal function to GaussianISAM, renamed and added comments to bayes tree
|
2011-02-11 22:08:07 +00:00 |
|
Alex Cunningham
|
7407843214
|
Reworked nonlinear optimizer so that it only uses a solver member variable if you are using spcg. SPCG may be broken at this point, and its member variable will be removed soon.
|
2011-02-10 16:01:29 +00:00 |
|
Alex Cunningham
|
06b08c6f85
|
Fixed bug with shared solvers in recursive LM nonlinear optimizer
|
2011-02-10 16:01:28 +00:00 |
|
Alex Cunningham
|
719e851643
|
Added a functional version of LM optimization for comparison
|
2011-02-06 04:13:32 +00:00 |
|
Alex Cunningham
|
251d83b41a
|
Disabled unit test for serialization of Values, as FastMap does not have serialization
|
2011-02-04 05:45:42 +00:00 |
|
Alex Cunningham
|
37ee4f6cb3
|
Added a test for Ordering, added pop_back() to ordering, made changing the ordering in NonlinearISAM possible
|
2011-02-02 03:50:06 +00:00 |
|
Alex Cunningham
|
e4cda1b360
|
Added accessor for NonlinearISAM, comments and whitespace
|
2011-01-29 00:53:15 +00:00 |
|
Richard Roberts
|
4880257e69
|
Merging hessianfactor branch, Cholesky is now default and GaussianFactor is virtual (see email to frankcvs)
|
2011-01-20 22:22:00 +00:00 |
|
Alex Cunningham
|
4367a245bd
|
Added unit test for NonlinearISAM with a simple markov chain demo
|
2011-01-20 15:42:11 +00:00 |
|
Richard Roberts
|
880040a6f6
|
Added extra link libraries to examples and global tests required when building a static-only gtsam library
|
2010-12-29 03:25:52 +00:00 |
|
Richard Roberts
|
9edeb1102c
|
Fixed bug in BayesTree shortcuts and marginals. Also added an input check to Permutation::PushToBack and PullToFront that catches the bad input of duplicate variables caused by the bug.
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2010-12-21 18:23:56 +00:00 |
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Richard Roberts
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a8a584d38e
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Rolling back last commit (undoing merge of hessianfactor branch) - does not compile on Linux, could be compiler or boost version problems. Also will probably break Alex's stuff so will work that out before merging.
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2010-12-17 01:11:28 +00:00 |
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Richard Roberts
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de1892016d
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Merged in hessianfactor branch, Cholesky is now default. This merge also includes improved timing statements with automatic outlining and low overhead
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2010-12-17 00:51:51 +00:00 |
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Richard Roberts
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a6fd5ff9e2
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Removed unused inference-inl.h and testOrdering.cpp, added unit test for ordering with unobserved variables.
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2010-12-09 01:34:20 +00:00 |
Kai Ni
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e726f7c7af
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remove backward compatible functions in NonlinearOptimizer
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2010-11-21 22:00:22 +00:00 |
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Richard Roberts
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4e0b4021df
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Added prior on the first pose in time*OnDataset
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2010-11-19 16:30:06 +00:00 |
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Richard Roberts
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d6929d4409
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Storing variable index in solver, saved between nonlinear iterations
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2010-11-15 23:01:50 +00:00 |
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Alex Cunningham
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15310ed6ad
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Added fix to make TupleConfig1 work
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2010-11-06 17:35:47 +00:00 |
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Richard Roberts
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898ca38f1c
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Removed unmatched timing statement, reduced default trials in timing scripts
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2010-11-03 22:52:24 +00:00 |
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Richard Roberts
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60e10d7380
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Added timeSequentialOnDataset and timeMultifrontalOnDataset, removed timeLinearOnDataset
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2010-11-03 22:35:02 +00:00 |
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Kai Ni
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448ada270a
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create n-way factor, return keys from nonlinear factor graph
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2010-10-30 19:27:30 +00:00 |
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Alex Cunningham
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201b16dabe
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Added more print statements for timing
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2010-10-29 15:00:57 +00:00 |
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Richard Roberts
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3743342534
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Standardized function names - marginalFactor, marginalFactorGraph, marginalCovariance
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2010-10-25 22:45:45 +00:00 |
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Richard Roberts
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2c90e3d836
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Moved the subdirectories that compile into libgtsam.la into a 'gtsam' subdirectory. Hopefully a good fix for the problem we had trying to make a gtsam distribution, that the source directory may not be called 'gtsam'.
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2010-10-25 20:10:33 +00:00 |
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Richard Roberts
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fda11d7c15
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Extra unit test to check that marginals from sequential and multifrontal are the same
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2010-10-22 22:53:33 +00:00 |
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Richard Roberts
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8ff5bf5c7c
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Bug fix in BayesTree marginal, re-enabled joint and unit tests
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2010-10-22 22:11:23 +00:00 |
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Chris Beall
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69c6d05ce1
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config() changed to values() for consistency
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2010-10-22 19:29:15 +00:00 |
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Richard Roberts
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f9e0ed07a3
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Code cleanup: lean and mean VariableIndex (got rid of different types for different FG's, slots, and storage template), renamed Conditional.h and Factor.h to match class names ConditionalBase and FactorBase (not ideal names but prevents conflict with typedefs), added typedef for symbolic multifrontal solver.
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2010-10-22 18:02:55 +00:00 |
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Richard Roberts
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1d94dacca0
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make check passes with dense qr using lapack geqrf
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2010-10-22 03:51:10 +00:00 |
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Richard Roberts
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812e3277ee
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New linear solver interface, global inference functions removed.
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2010-10-21 22:59:54 +00:00 |
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Richard Roberts
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f15fea202e
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Change that may be reverted again soon - templated factor base type on key and make IndexFactor and IndexConditional for all current code. Did this to experiment with using symbols on the linear side in an efficient way but am putting this on hold for now because of complications. Will revisit and either fix or revert to int-only later in the week. Also moved some files to experimental and templating EliminationTree on FACTOR instead of FACTORGRAPH.
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2010-10-19 21:31:13 +00:00 |
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Chris Beall
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4071d4f673
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small change to make boost work properly
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2010-10-18 21:44:38 +00:00 |
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Richard Roberts
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4a7b8bad27
|
--with-boost no longer required, automatically finding boost
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2010-10-17 17:06:28 +00:00 |
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Alex Cunningham
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a9a066aec7
|
Removed hard constraints from gtsam library (with the exception of NonlinearEquality) and moved them to gtsam_experimental and MastSLAM
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2010-10-17 03:56:05 +00:00 |
|
Kai Ni
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bc36e653fd
|
depend on external CCOLAMD and DenseQR
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2010-10-16 01:55:47 +00:00 |
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Richard Roberts
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130d9d2797
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Made EliminationTree generic, with Symbolic and Gaussian unit tests
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2010-10-15 15:53:36 +00:00 |
|
Kai Ni
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24d499039f
|
prepend license information on all the codes
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2010-10-14 04:54:38 +00:00 |
|
Kai Ni
|
5cbf67eeba
|
move colamd and spqr_mini out of gtsam
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2010-10-14 02:41:08 +00:00 |
|
Richard Roberts
|
47b11749fe
|
Moved old elimination tree to gtsam_experimental
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2010-10-13 22:07:52 +00:00 |
|
Richard Roberts
|
e545f59fb2
|
Inference::Marginal returns a factor graph
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2010-10-13 20:41:26 +00:00 |
|
Frank Dellaert
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b56b0fe3a4
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Moved test to inference and added ETree prototype code
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2010-10-12 05:19:51 +00:00 |
|
Frank Dellaert
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fbdf9647f8
|
new test to drive elimination tree development
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2010-10-12 00:15:26 +00:00 |
|
Frank Dellaert
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057050fa9f
|
renamed varid_t to Index
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2010-10-11 21:14:35 +00:00 |
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Richard Roberts
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96eb939749
|
Fixed computing marginals in BayesTree
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2010-10-11 16:02:01 +00:00 |
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Alex Cunningham
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ccea5c79cb
|
unwhitened error in LinearApproxFactor now works
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2010-10-11 04:47:57 +00:00 |
|
Alex Cunningham
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c92026884b
|
moved and enabled testKey, LinearApproxFactor creation/linearization works
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2010-10-11 04:30:19 +00:00 |
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Alex Cunningham
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c57c93a490
|
Re-enabled more constraints
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2010-10-11 04:30:18 +00:00 |
|
Richard Roberts
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45456aab8e
|
Fixed computing shortcuts in BayesTree
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2010-10-10 03:10:03 +00:00 |
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Richard Roberts
|
84d6b5be6a
|
Re-enabled computing marginals of a set of variables (Inference::Marginal(...))
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2010-10-10 00:51:57 +00:00 |
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Alex Cunningham
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07bda5aa97
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Changed linear config names to *Values, updated comments
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2010-10-09 03:09:58 +00:00 |
|
Alex Cunningham
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6002931e12
|
Renamed LieConfig and TupleConfig to use Values
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2010-10-09 03:09:55 +00:00 |
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Richard Roberts
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1d52ff90a8
|
Merged simplelinear branch into trunk
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2010-10-08 22:04:47 +00:00 |
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Alex Cunningham
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f6ada87314
|
Removed LDL, ConstraintOptimizer things, and FusionTupleConfig. Added *.valgrind run commands so that tests can be checked for memory errors. Removed some extraneous stuff in configure.ac
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2010-10-02 23:38:01 +00:00 |
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Alex Cunningham
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5745226452
|
split LinearApproxFactor into an implementation header file
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2010-09-22 15:34:03 +00:00 |
|
Alex Cunningham
|
b09b7fffbb
|
Removed extraneous template parameter for LinearApproxFactor
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2010-09-22 13:29:29 +00:00 |
|
Frank Dellaert
|
3f937fdba4
|
changed include order to be more logical
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2010-09-20 21:02:32 +00:00 |
|
Richard Roberts
|
55dedc97e3
|
Fixed include paths so that making individual unit tests works again
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2010-09-11 16:54:50 +00:00 |
|
Alex Cunningham
|
815d892806
|
Added TEST_UNSAFE to avoid exception checking in normal tests, as well as an assert_inequal() evaluation in TestableAssertions.h.
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2010-08-30 20:54:12 +00:00 |
|
Alex Cunningham
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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
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2010-08-30 19:16:26 +00:00 |
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Alex Cunningham
|
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.
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2010-08-27 15:31:20 +00:00 |
|
Alex Cunningham
|
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.
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2010-08-26 19:55:40 +00:00 |
|
Alex Cunningham
|
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 |
|
Alex Cunningham
|
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 |
|
Alex Cunningham
|
5350f368cd
|
Removing binary
|
2010-08-23 03:44:25 +00:00 |
|
Alex Cunningham
|
e0da1971fa
|
fixed ROS packages due to gtsam changes
|
2010-08-23 00:19:57 +00:00 |
|
Alex Cunningham
|
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 |
|
Richard Roberts
|
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 |
|
Alex Cunningham
|
256697d345
|
Moved transform_[to|from] and [un]rotate to be static functions in classes
|
2010-08-20 21:47:30 +00:00 |
|
Richard Roberts
|
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 |
|
Alex Cunningham
|
30c3f46b52
|
FusionTupleConfigs work correctly for optimization
|
2010-08-16 19:19:50 +00:00 |
|
Alex Cunningham
|
977155d133
|
Added simpler interfaces for FusionTupleConfig for 1,2, and 3 variable types
|
2010-08-15 21:35:03 +00:00 |
|
Alex Cunningham
|
a2fecf51c9
|
FusionTupleConfig is now a full config
|
2010-08-14 21:15:45 +00:00 |
|
Alex Cunningham
|
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 |
|
Alex Cunningham
|
f6dbee41d2
|
More of FusionTupleConfig works
|
2010-08-13 14:55:26 +00:00 |
|
Alex Cunningham
|
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 |
|
Alex Cunningham
|
3fd36bca53
|
Added TupleConfig1 wrapper
|
2010-08-12 12:44:36 +00:00 |
|
Alex Cunningham
|
5991d1edfd
|
Added a nonlinear factor to approximate a linear factor from MastSLAM
|
2010-08-10 16:59:22 +00:00 |
|
Alex Cunningham
|
1c72d92365
|
Moved TransformConstraint into gtsam, cleaned up includes
|
2010-08-10 14:30:41 +00:00 |