849 Commits (224a2f82db02e644b7df8b60eed25e9b768a84cd)

Author	SHA1	Message	Date
Alex Cunningham	20ac6b85c8	Added static dim() functions to remaining geometry types so that dimensions can be calculated on size alone.	2010-03-01 21:56:13 +00:00
Manohar Paluri	e670e00e3b	added const Tensor3expression	2010-03-01 18:08:18 +00:00
Manohar Paluri	8bf8e4dc1f	added operator() to change values	2010-03-01 18:07:18 +00:00
Manohar Paluri	6073bdb679	made the function const	2010-03-01 18:05:24 +00:00
Alex Cunningham	a46dc4cea0	Added threshold for lambda in NonlinearOptimizer so that if lambda has gotten unreasonably large, optimization will throw a runtime exception to prevent infinite loops where lambda goes to infinity.	2010-03-01 16:31:05 +00:00
Frank Dellaert	d9c185498e	combined a few arithmetic tests	2010-03-01 01:38:26 +00:00
Frank Dellaert	4cb59438f7	documentation	2010-03-01 01:37:50 +00:00
Frank Dellaert	619190a818	new-style combined unrotate	2010-03-01 01:36:27 +00:00
Frank Dellaert	20ad08e48f	new Pose3 derivatives still don't work :-(	2010-03-01 01:35:33 +00:00
Frank Dellaert	b943644ddd	re-factored so corresponds to math.lyx	2010-03-01 01:33:45 +00:00
Frank Dellaert	6e03783465	negation	2010-03-01 01:30:15 +00:00
Frank Dellaert	28f4493a2b	Now uses Adjoint map for derivatives of inverse/compose/between, see doc/math.pdf	2010-02-28 09:10:39 +00:00
Frank Dellaert	98aa08bcd0	Re-use memory	2010-02-28 09:09:37 +00:00
Frank Dellaert	85784400c6	prototype object map	2010-02-28 09:09:12 +00:00
Frank Dellaert	dcfe52dae7	some renaming of variables	2010-02-28 09:08:47 +00:00
Kai Ni	b58f7b8ea7	the derivative for transform_from	2010-02-28 08:51:43 +00:00
Kai Ni	d894e23a06	assert_equal for a list of matrices	2010-02-28 00:48:42 +00:00
Manohar Paluri	4604cbce05	svd now handles m < n cases. Added unit tests to verify this. But svd in place will throw an exception for such cases.	2010-02-27 18:23:34 +00:00
Frank Dellaert	5e00c58ea7	Baker–Campbell–Hausdorff formula: in non-commutative Lie groups, when composing exp(Z) = exp(X)exp(Y) it is not true that Z = X+Y. Instead, Z can be calculated using the BCH formula: ... Z = X + Y + [X,Y]/2 + [X-Y,[X,Y]]/12 - [Y,[X,[X,Y]]]/24 + ... See http://en.wikipedia.org/wiki/Baker–Campbell–Hausdorff_formula	2010-02-27 14:58:54 +00:00
Kai Ni	67b4834bdb	someone forgot to return it	2010-02-27 00:04:51 +00:00
Viorela Ila	b6599ebdce	readst the tree files	2010-02-26 22:23:00 +00:00
justinca	9941b28128	Fix matrix inverse square root so it, once again, returns an upper triangular matrix	2010-02-26 18:53:41 +00:00
Manohar Paluri	940202226b	added #pragma	2010-02-26 14:45:17 +00:00
Frank Dellaert	d21ff82d21	Kruskal skeleton	2010-02-26 13:31:38 +00:00
Kai Ni	87c8465315	the beautiful Jacobian of compose in pose2	2010-02-26 10:55:41 +00:00
Frank Dellaert	c40760485d	I think we might have a problem: is expmap<Pose2> correct? Uncomment the new test in testPose2. It does not match what is said in http://www.cis.upenn.edu/~cis610/cis610lie1.ps.	2010-02-26 06:00:58 +00:00
Frank Dellaert	0004d90feb	formatting only	2010-02-26 05:30:02 +00:00
Frank Dellaert	38ed1a5cdd	more compulsive checking, more efficient removing	2010-02-26 05:29:45 +00:00
Kai Ni	73848d9e0e	added comments to make people realize it is for the matlab wrapper not actually c++ implementation	2010-02-26 05:05:05 +00:00
Kai Ni	7e8aa6e6b9	add unit test for the constructor	2010-02-26 05:04:03 +00:00
Frank Dellaert	5e97d07f5e	*it is already the right type	2010-02-26 04:03:56 +00:00
Frank Dellaert	0a33b50554	use Matrix.resize	2010-02-26 04:03:31 +00:00
Frank Dellaert	17bd59ec80	only call alpha calls if CBLAS version will be called.	2010-02-26 03:23:48 +00:00
Frank Dellaert	044ea1348d	Modernized/refactored, esp. with regards to map insert and iterating.	2010-02-26 03:20:15 +00:00
Alex Cunningham	9d704bb977	Added flag to default Factorization for old or new elimination, defaulting to old code.	2010-02-25 21:07:35 +00:00
Alex Cunningham	5b60511505	Reverted default elimination code to older implementation - use switch in optimize() or eliminate() to use newer code.	2010-02-25 20:43:59 +00:00
Kai Ni	c56ee9ea0d	added a new constructor that takes a list	2010-02-25 08:16:33 +00:00
Alex Cunningham	74787df3fc	Added ability to insert whole configs at a time to LieConfig and TupleConfig	2010-02-25 02:50:01 +00:00
Frank Dellaert	93a3f48920	Created patch to camera homography function with Duy	2010-02-25 00:05:27 +00:00
Alex Cunningham	9955ea20bd	Added pure cblas implementation of multiplyAdd functions. This does not have autotools support yet, so to enable, goto cpp/Makefile.am, comment out the block concerning GSL/ATLAS, and uncomment the above section enabling just blas.	2010-02-24 18:12:48 +00:00
Alex Cunningham	f8c4e1fe27	Fixed bug in unit test causing crashes, altered corner case test for column insertion	2010-02-24 18:09:15 +00:00
Alex Cunningham	022f706d94	Changed default elimination algorithm to newer one with fewer matrix allocations to solve crashing bug from LM discovered in MAST	2010-02-24 14:19:52 +00:00
Frank Dellaert	04f7bbf253	use vector_scale_inplace	2010-02-24 06:15:06 +00:00
Frank Dellaert	696be0d0c1	RETURN CONST REFERENCES WHERE YOU CAN and some inlining	2010-02-24 06:14:43 +00:00
Frank Dellaert	dd9446993a	5-fold performance improvement in combined between function	2010-02-24 06:14:02 +00:00
Frank Dellaert	51281ea78f	in-place colamd	2010-02-24 06:13:11 +00:00
Frank Dellaert	71089a6354	vector_scale_inplace	2010-02-24 06:12:56 +00:00
Frank Dellaert	c1f50a0637	fixed noise model, removed istringstream and getline in favor of ignore	2010-02-24 06:11:52 +00:00
Kai Ni	547427514f	add save functions for Matrix and Vector to save them to disk	2010-02-24 00:12:10 +00:00
Alex Cunningham	ac41ee7215	Added a test in GaussianFactor to demo a problem found in MAST where eliminating a single factor with two priors causes a memory corruption error. To run the test and see the error, go to the last test in testGaussianFactor called "exploding_MAST_factor" and uncomment the indicated line.	2010-02-23 18:41:07 +00:00