1edcdb6f80
added SymbolicFactor constructor that takes a SymbolicConditional
2009-11-18 17:27:27 +00:00
c7e76891da
skeleton hardcoded version
2009-11-18 17:03:19 +00:00
bed219c997
no printout
2009-11-18 16:32:45 +00:00
21974f95e1
test for incremental update
2009-11-18 16:31:19 +00:00
bef2efacb7
fixed equals
2009-11-18 16:30:57 +00:00
ceed2ae17d
symbolic tree in testIncremental
2009-11-18 15:37:19 +00:00
f56bf8c79f
added missing include to satisfy stricter compiler; added isam test file
2009-11-17 21:47:42 +00:00
4f7d31986c
added cameraConstraint and corresponding unit test based on same 2 camera/4 landmark example, but now there are constraints on the two cameras and none of the landmarks.
2009-11-17 17:19:54 +00:00
e4eaae4605
Added equals function and serialization capability
2009-11-17 01:19:55 +00:00
d24846d9a0
fixed errors due to shared pointer change in VSLAMFactor
2009-11-17 01:02:55 +00:00
e312252006
Changed camera matrix to a shared pointer
2009-11-17 00:51:27 +00:00
256c094039
Added default constructor and Serialization
2009-11-16 23:49:04 +00:00
20830a1534
Added testSQP demo to show a simple problem solved by Sequential Quadratic Programming. To see the outputs, set verbose=true at the start of the test.
2009-11-16 19:12:56 +00:00
27a47c6535
Constructor now takes Point2
2009-11-13 06:19:21 +00:00
d5ada2a80c
Test now succeeds after adding 3 landmark constraints
...
Also cleaned up a bit
2009-11-13 06:19:08 +00:00
d26abf3ccf
addLandmarkConstraint
2009-11-13 06:18:27 +00:00
309f2151cf
Clean-up
2009-11-13 06:17:59 +00:00
fe974a3e72
Rank test needs to be re-thought
2009-11-13 06:17:19 +00:00
f5fc14c0f4
Fixed bug in revealing rank, even simpler than before.
2009-11-13 06:16:56 +00:00
7c045a0802
Fixed compile errors due to remaining VectorConfigs, and removed div0 warning
2009-11-13 06:15:48 +00:00
17aaae42d8
Refactoring of weightedPseudoInverse, emul, sum
2009-11-13 06:14:55 +00:00
2178589263
Debug printout and variable names
2009-11-13 06:13:58 +00:00
67c2ea8263
NonlinearEquality factor is now working for generic configs. Currently, the feasible point must be specified in the form of a full config with the point in it, but this avoid needing to increase the requirements on the configs.
2009-11-13 02:06:52 +00:00
cba4a536bb
includes Ordering.h
2009-11-13 01:56:09 +00:00
6252ff2497
added testVSLAMGraph unit test. will fail until we can add a constraint to either one of the two cameras.
2009-11-12 18:55:03 +00:00
ef0fc9fbac
added testVSLAMGraph unit test. will fail until we can add a constraint to either one of the two cameras.
2009-11-12 18:54:46 +00:00
03f865d4b1
Used typedefs with similar naming convention.
2009-11-12 18:33:14 +00:00
5857635ca1
Fixed renaming error with NonlinearFactors sometimes becoming NonGaussianFactors
2009-11-12 16:47:12 +00:00
c7b86cec97
Renamed ConditionalGaussian -> GaussianConditional
2009-11-12 16:41:18 +00:00
77a1754b69
Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph
2009-11-12 16:16:32 +00:00
1ae6bb4030
Added push_fron convenience method to add ConditionalGaussians into a Bayes net with much less clutter. Modernized some very old tests in the process.
2009-11-12 06:09:03 +00:00
f677341108
Moved inference methods to new compilation unit. Added [factor], and [marginalize] now returns a factor graph.
2009-11-12 04:56:30 +00:00
c85f5445db
Re-organized makefile
2009-11-12 04:54:31 +00:00
81a353dd2c
eliminate is now const
2009-11-12 04:53:28 +00:00
a38ebece1e
New compilation unit that collects generic, templated inference methods that go between factor graphs and Bayes nets. These used to be in BayesNet-inl.h and FactorGraph-inl.h
2009-11-12 04:52:40 +00:00
4a7e05fffa
change all print() to print(string s) and create SymbolicFactor
2009-11-11 22:45:08 +00:00
70efccefbc
VSLAMFactor Testable
2009-11-11 21:09:43 +00:00
8c695a778c
Implemented a rank deficient constraint test in testLinearFactor: note that it is possible to reorder elimination to make a system solvable or rank-deficient
2009-11-11 19:00:39 +00:00
ab65dfb4dd
Adding include file stdio.h to resolve compiling issue when upgrading to Ubuntu 9.10. The printf() compiles on ubuntu 9.04 and mac machines.
2009-11-11 17:15:17 +00:00
f51614813e
Improved weighted eliminate to handle arbitrary linear equality constraints
2009-11-11 14:42:09 +00:00
d585a329dc
Added MATLAB-friendly versions of eliminate and optimize in LinearFactorGraph (with trailing underscore). Also fixed some MATLAB code.
2009-11-11 07:14:13 +00:00
ac840d6f0a
1) DCVectorConfig I believe was obsolete as well as any conversion from and to Vectors, which I removed
...
2) load and flush are gone.
3) I made a VSLAMConfig "Testable".
4) I added an explicit template instantiation to avoid having to include -inl.h files
5) I added some more test code in testVSLAMFactor
2009-11-11 05:14:03 +00:00
00ff066b33
Fixed compile error
2009-11-11 05:13:25 +00:00
8d2d48d252
made removeAndCombineFactors a function, not a method
2009-11-11 05:12:45 +00:00
710d396d0b
cleaned up a few includes to make VSLAMGraph work properly after the move into gtsam.
2009-11-10 22:49:22 +00:00
dc3b85e43d
Todo: make wrapper for GaussianBayesNet. For now eliminate returns void in gtsam.h
2009-11-10 21:15:28 +00:00
08c9718b12
Moving VSLAMConfig into gtsam. VSLAMFactor lived there already, but was using VectorConfig directly... now using VSLAMConfig.
2009-11-10 20:19:00 +00:00
0d928035e0
added empty constructors for serialization, also made sure SymbolicConditional.h was installed
2009-11-10 14:55:07 +00:00
1f15650da0
Added serialization of base class
2009-11-10 14:44:53 +00:00
ddc0173671
Basic handling of constraints now works in factor graphs, assuming there is only one constraint on any given variable.
2009-11-10 04:36:07 +00:00
Frank Dellaert
Michael Kaess
Chris Beall
Manohar Paluri
Alex Cunningham
Viorela Ila
Eohan George