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 |
Chris Beall
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59c85fadee
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NonlinearOptimizationParameters.h was missing from install
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2010-10-19 03:19:53 +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 |
Yong-Dian Jian
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2a72112cde
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change the parameters of add_prior to accommodate spcg solver...
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2010-10-18 19:32:04 +00:00 |
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Yong-Dian Jian
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fd79b455e3
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add a dummy spcg interface for now...
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2010-10-18 19:30:40 +00:00 |
Kai Ni
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9d8498617c
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easy interfaces of nonlinear optimization
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2010-10-17 18:52:52 +00:00 |
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Richard Roberts
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4a7b8bad27
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--with-boost no longer required, automatically finding boost
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2010-10-17 17:06:28 +00:00 |
Alex Cunningham
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a9a066aec7
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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 |
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Kai Ni
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bc36e653fd
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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 |
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Kai Ni
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24d499039f
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prepend license information on all the codes
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2010-10-14 04:54:38 +00:00 |
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Kai Ni
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28460a3ad5
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remove dependency on colamd
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2010-10-14 04:05:09 +00:00 |
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Kai Ni
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5cbf67eeba
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move colamd and spqr_mini out of gtsam
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2010-10-14 02:41:08 +00:00 |
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Yong-Dian Jian
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422a4ae16d
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re-org code
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2010-10-14 02:06:49 +00:00 |
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Yong-Dian Jian
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2ce0f40b79
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fix for cityslam
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2010-10-13 22:41:48 +00:00 |
Frank Dellaert
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057050fa9f
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renamed varid_t to Index
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2010-10-11 21:14:35 +00:00 |
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Alex Cunningham
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c92026884b
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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
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Re-enabled more constraints
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2010-10-11 04:30:18 +00:00 |
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Alex Cunningham
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5be0bf6e28
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Changed Value_t conventions to Value, fixed some install script problems
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2010-10-09 03:53:27 +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 |
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Alex Cunningham
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6002931e12
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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
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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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0fb6c1320e
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Renamed example to be more consistent, pulled in Ordering in NonlinearOptimizer
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2010-10-08 18:39:19 +00:00 |
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Alex Cunningham
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20e1f89943
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comments only
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2010-10-08 17:38:01 +00:00 |
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Alex Cunningham
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b4ea19f141
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Changed "Values" typedef in LieConfig to avoid name clobbering
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2010-10-08 17:37:59 +00:00 |
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Alex Cunningham
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f6ada87314
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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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Yong-Dian Jian
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a48bf9499a
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add new interface to levenbergMarquardt, now can take a threshold for sum of error
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2010-10-01 14:47:28 +00:00 |
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Alex Cunningham
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2ac1685b93
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Made enums be typedefs so that verbosity levels can be actual types
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2010-09-27 16:01:43 +00:00 |
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Richard Roberts
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55dedc97e3
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Fixed include paths so that making individual unit tests works again
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2010-09-11 16:54:50 +00:00 |
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Alex Cunningham
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a461680a2b
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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 |
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Alex Cunningham
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23a30f8475
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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 |
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Alex Cunningham
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eed13e48d2
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Switched to using LieVectors for vector types. Still some problems with numericalDerivative that have been worked around, but other functionality is intact.
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2010-08-24 17:26:56 +00:00 |
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Alex Cunningham
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77eda5ab8c
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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
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2010-08-23 19:44:17 +00:00 |
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Alex Cunningham
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458cc52fff
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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.
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2010-08-22 21:45:53 +00:00 |
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Alex Cunningham
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9367170fe5
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Fixed references to dimension static member variables in constraints
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2010-08-19 21:29:43 +00:00 |
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Alex Cunningham
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8e364cb34e
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Improvements to the Lie objects, with new member/static functions in most of the geometry objects. Many of the functions that were previously global have been moved to static functions. See Lie.h for more details.
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2010-08-19 20:03:06 +00:00 |
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Richard Roberts
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f1132359d4
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Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs)
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2010-08-19 17:23:19 +00:00 |
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Alex Cunningham
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30c3f46b52
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FusionTupleConfigs work correctly for optimization
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2010-08-16 19:19:50 +00:00 |
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Alex Cunningham
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977155d133
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Added simpler interfaces for FusionTupleConfig for 1,2, and 3 variable types
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2010-08-15 21:35:03 +00:00 |
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Alex Cunningham
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a2fecf51c9
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FusionTupleConfig is now a full config
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2010-08-14 21:15:45 +00:00 |
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Alex Cunningham
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f3ccfaf100
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Added dummy initialization of LieConfigs from arbitrary other LieConfigs, FusionTupleConfigs can now be created from arbitrary other FusionConfigs.
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2010-08-13 19:51:04 +00:00 |
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Alex Cunningham
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f6dbee41d2
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More of FusionTupleConfig works
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2010-08-13 14:55:26 +00:00 |
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Alex Cunningham
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c2a83759cb
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Added experimental replacement for TupleConfig using boost.fusion - this should eventually make it possible to make nonlinear factors interchangable regardless of config type.
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2010-08-12 15:23:03 +00:00 |
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Alex Cunningham
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3fd36bca53
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Added TupleConfig1 wrapper
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2010-08-12 12:44:36 +00:00 |
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Alex Cunningham
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1c72d92365
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Moved TransformConstraint into gtsam, cleaned up includes
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2010-08-10 14:30:41 +00:00 |
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Alex Cunningham
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4f9a60d41c
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Nonlinear bounding constraints are now working for simple examples. Also, removed extraneous constraint test files.
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2010-08-09 21:59:29 +00:00 |
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Alex Cunningham
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efaca162cf
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Added tests for nonlinear equality constraints, generalized equality constraints
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2010-08-09 17:21:11 +00:00 |
|
Alex Cunningham
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38ea7d1ea5
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Added more static optimization helper functions - can now just call optimizeLM(graph,config) or optimizeGN(graph,config) to get an optimized config.
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2010-08-09 17:20:03 +00:00 |
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Alex Cunningham
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5ada49ea3a
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Moved remaining equality constraint tests to testNonlinearEqualityConstraint. Added NonlinearEquality2, a binary constraint expressing exact equality between variables.
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2010-08-06 20:07:55 +00:00 |
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Alex Cunningham
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a55860eb1d
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Reimplemented nonlinear constraints to remove the old dependency on using boost function pointers and allow for inequality and bounding constraints. Added simple equality constraints in simulated2D and new set of tests. Removed/disabled old tests until they can be worked into new structure.
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2010-08-06 18:30:07 +00:00 |