1ca79ea900
Switching to size_t
2016-06-19 12:28:02 -07:00
fbe9aac41c
squash local changes on top of gtsam upstream pull from 6/14/2016
2016-06-18 23:13:59 -07:00
0372a959ee
Many small improvements, bug-fixes, and tests
2016-02-24 11:01:19 -08:00
5098003691
Fixed several warnings
2013-11-19 14:04:52 +00:00
def9b84e45
Added virtual solve method to NonlinearOptimizer that you can override, e.g., with Ceres
...
See example in testNonlinearOptimizer
As part of this, I also merged SuccessiveLinearizationParams into NonlinearOptimizerParams, which is now in its own separate file NonlinearOptimizerParams.h
2013-10-25 18:27:43 +00:00
84e9c1655d
wrap check converge
2013-08-16 16:25:59 +00:00
a54d177202
Added dll export tags and updated cmake scripts so that GTSAM can build as a shared library on windows
2013-03-13 18:56:21 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
1565833c2c
More consistent order of private/protected/public - typedefs, private/protected variables, public interface, private/protected functions
2012-08-06 21:42:26 +00:00
6bee17b603
Added support for SPCG in matlab wrapper
2012-07-24 15:48:33 +00:00
bcaa1d00bf
Fixed warnings
2012-07-13 21:57:57 +00:00
7c5e60edca
optimizeSafely catches all exceptions and returns an empty Values object if one was caught.
2012-06-24 21:52:42 +00:00
5acc52bbae
add set/get interface for LMParameters in c++ and matlab
2012-06-23 20:07:03 +00:00
b9927a1b7e
Fixed Doxygen warnings.
2012-06-07 23:08:43 +00:00
75bd1689df
Changes in progress
2012-05-14 19:10:02 +00:00
6c4bd1160a
Changes in progress
2012-05-14 16:51:33 +00:00
c83a399bba
Continuing code simplification / restructuring
2012-04-05 02:45:47 +00:00
d0211bb031
Simplifying code and minor restructuring to support SPCG - removed update functions so NLO is now completely immutable, moved ordering to parameters, added SuccessiveLinearizationOptimizer base class that will do direct and iterative linear solving, with derived classes for GN, LM, DL. This structure will allow us to later add a new NLO subclass for nonlinear gradient descent methods.
2012-04-04 23:20:42 +00:00
9366136c78
In progress - making NLO interface less confusing / error prone with a separate "state" class. Refactoring in NLO to reduce amount of code and remove code duplication.
2012-04-02 00:26:42 +00:00
fdb4138d10
Started NLO state
2012-04-01 20:22:24 +00:00
b07d2096c2
Improved NLO documentation
2012-03-28 04:53:16 +00:00
5e6a1836e9
shared_ptr typedef
2012-03-24 19:53:39 +00:00
829bb1f8aa
Added 'optimized' shortcut function to optimize and return Values directly
2012-03-23 22:43:59 +00:00
4432916745
Put default absolute error tolerance back to 1e-5
2012-03-23 03:39:01 +00:00
8748f483b0
NonlinearOptimizer, GaussNewtonOptimizer, and LevenbergMarquardt Optimizer compile
2012-02-28 05:30:53 +00:00
e7e64e945b
GaussNewtonOptimizer, started LevenbergMarquardtOptimizer
2012-02-27 01:18:36 +00:00
0309b6b184
(in branch) NonlinearOptimizer base class
2012-02-26 02:44:58 +00:00
0592b71ac4
Switched Values, Ordering, and factors to int 'Key' instead of 'Symbol',
...
still more code changes required to compile
2012-02-19 01:02:07 +00:00
820b33bd55
(2.0_prep branch) Merged in virtual_values branch
2012-02-03 17:18:32 +00:00
26cdf28421
Renamed DynamicValues to Values and removed specialized derived Values classes
2012-02-02 16:16:46 +00:00
d3d5ee3b39
[inprogress] switching to DynamicValues
2012-01-28 20:47:43 +00:00
c309047d7a
print functions for use in MATLAB
2012-01-28 19:43:09 +00:00
aa940ec8d0
added comment groups to some nonlinear classes
2012-01-23 20:16:59 +00:00
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
53dfa5dbb9
Merging Dogleg into trunk
2011-11-05 21:29:02 +00:00
56d1d6ae34
Fixed some Doxygen problems with global replace
2011-10-14 03:23:14 +00:00
3014daa140
Updated the Doxygen style Comments on NonlinearOptimizer.h
2011-09-09 02:34:29 +00:00
44b74c3d55
Fixed bad doxygen @Author: to correct @author style
2011-09-07 01:26:28 +00:00
f2a66a64fc
virtual destructor
2011-09-04 01:05:30 +00:00
fa4faa274a
Merge branch 'prep_0.9.3'
2011-06-13 16:55:31 +00:00
07820af903
Fixed crashes when doing linearize/solve on nonlinear factor graphs with NULL factors
2011-03-29 19:51:50 +00:00
9f4661544f
VariableIndex is now constructed at the creation of a NonlinearOptimizer and passed in at solver creation.
2011-02-10 16:51:56 +00:00
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
719e851643
Added a functional version of LM optimization for comparison
2011-02-06 04:13:32 +00:00
900227234f
added an accessor for the nonlinear graph in NonlinearOptimizer
2011-02-04 03:39:45 +00:00
859bd16fd5
Made NonlinearOptimizer::try_lambda public to allow the linear system to be modified at every LM iteration, this needs to be done somehow to implement Gaussian mixture EM, but this isn't an ideal solution. Also added a missing 'const' to the linear graph argument.
2011-01-02 04:57:48 +00:00
b68923ea9a
Added accessor for NonlinearOptimizer parameters
2010-12-31 17:38:05 +00:00
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.
2010-12-21 18:23:56 +00:00
0b11a02183
fixed initialization list warnings
2010-12-09 18:31:25 +00:00
b55b9de27f
record iteration numbers
2010-12-03 03:23:35 +00:00
Frank Dellaert
Abe
Richard Roberts
Frank Dellaert
Duy-Nguyen Ta
Chris Beall
Yong-Dian Jian
Summit Patel
Nick Barrash
Stephen Williams
Natesh Srinivasan
Alex Cunningham
Kai Ni