18d7fcc299
Added instantiation macros for TupleConfigs and NonlinearConstraints
2010-02-08 22:29:00 +00:00
fbef948254
Bug fix in replace()
2010-02-08 22:22:38 +00:00
ea9b44ea15
Fixed indentation
2010-02-08 22:21:56 +00:00
ed338300a1
Instantiation script for TupleConfig
2010-02-08 20:53:18 +00:00
ea3b8083b0
Fixed more tests for NonlinearConstraints, inequality constraints now work.
2010-02-07 01:18:17 +00:00
814fb949ba
fixed critical bug relating to height of tree
2010-02-06 17:45:40 +00:00
675b30d1c1
updates to BTree
2010-02-06 15:53:31 +00:00
f88438bab4
Removed SQP optimizer and moved remaining SQP optimizer tests into testSQP. All equality constraints should be fully functional now. Inequality constraints still to come.
2010-02-06 14:48:46 +00:00
219dfd262d
SQP now works with single configs using the TupleConfigs, without needing a separate optimizer.
2010-02-06 05:14:52 +00:00
d8a8575d26
Removed a fixme comment
2010-02-06 05:12:09 +00:00
d1267d1ef3
Added more constructors, print functionality and formatting for TupleConfig
2010-02-06 05:10:25 +00:00
bb74b5c882
Added a config template parameter for ProjectionFactors
2010-02-06 05:08:52 +00:00
af9f45ff24
Used template parameters in simulated2D to make it possible to template factors on a config type with typedefs for the previous usage so no other code needs to change
2010-02-05 14:49:40 +00:00
040d45cb45
Added wrapper classes for TupleConfig for ease of use.
2010-02-05 01:33:33 +00:00
8fe0795dd0
BTree moved into gtsam
2010-02-04 21:02:05 +00:00
5c1c8ee76f
Changed PairConfig interface so that the internal configs need to be accessed with first() and second(). This is in anticipation of switching PairConfig to TupleConfig2.
2010-02-04 17:15:09 +00:00
2068477e32
Added pragma once to LieConfig to prevent errors if included multiple times
2010-02-04 16:08:59 +00:00
67744a5f07
Changed NonlinearConstraint to correctly use new keys
2010-02-04 16:08:11 +00:00
01bbd3cf8d
Disabling SQP tests while transitioning config types and SQP implementation
2010-02-04 16:07:20 +00:00
843f11678b
Recursive TupleConfig now has typedefs for 2-6 configs
2010-02-04 03:40:03 +00:00
4e70f14097
The recursive TupleConfig should be ready for use now.
2010-02-04 02:04:45 +00:00
550121013f
fix const string problem in print
2010-02-03 20:12:16 +00:00
e5a7d4c878
More functionality in TupleConfigs
2010-02-03 14:08:09 +00:00
94d50ddfb9
Added a liberal sprinkling of 'typename' to make TupleConfig work better
2010-02-03 13:57:34 +00:00
a66a405dd5
Partially implemented version of a recursive TupleConfig that is still very much under testing.
2010-02-03 13:47:13 +00:00
2f16d8f6a1
Changed the order of constructor initializers in GaussianFactor to remove compiler warnings
2010-02-01 16:04:14 +00:00
5554f6fc7e
Faster non-GSL versions of BLAS 2-style calls
2010-01-31 22:56:06 +00:00
efe51c8419
Fixed typo in function name
2010-01-31 21:09:03 +00:00
2889a25aeb
Fixed autotools files for GSL inclusion so that they don't include the wrong BLAS implementation when ATLAS is enabled
2010-01-31 18:26:18 +00:00
c266012dcd
Added GSL/ATLAS version of multiplyAdd() and transposeMultiplyAdd()
2010-01-31 18:25:03 +00:00
74dd7128ac
Fixup cholesky decomposition - rename to LLt and RtR to make convention clear
2010-01-31 18:07:29 +00:00
87cc573d34
Added a new combine process for GaussianFactors that allocates only one matrix when combining, rather than using append factor to make a large number of smaller matrices. There is a flag to switch between these modes, which currently defaults to the older approach. Currently, there does not appear to be a performance improvement, however.
2010-01-31 17:49:33 +00:00
9f16d7b07f
Added in-place sub insert function to Vector
2010-01-31 17:24:01 +00:00
48d2dabe43
Added in-place insertion functions to Matrix, as well as a #define flag to enable or disable GSL code without a reconfigure.
2010-01-31 17:21:07 +00:00
b5ca322d21
Added default tolerance value to equals in Key classes so that equals() works properly
2010-01-31 17:00:27 +00:00
fa6a515bfd
SAM was substantially sped up by inlining VectorConfig::insert
2010-01-31 16:05:16 +00:00
5e4b23df59
Matrix::multiplyAdd and transposeMultiplyAdd are "level 2" BLAS and speed up the numeric part of the code substantially. Alex might be able to speed them up even more by making them use real BLAS code within Matrix.cpp.
2010-01-31 16:04:24 +00:00
3b6c4917a9
GaussianBayesNet::backSubstituteInPlace
2010-01-31 04:39:41 +00:00
ac870bce4c
GaussianFactor::transposeMultiplyAdd
2010-01-31 03:33:53 +00:00
4f998e5ecd
Matrix::transposeMultiplyAdd
2010-01-31 02:53:03 +00:00
9b4ff5e099
transposeMultiplyAdd provied BLAS-style call for iterative speed
2010-01-30 23:59:29 +00:00
6ef09583b9
multiplyInPlace shaves a few seconds off but is fairly dangerous - I feel ambivalent....
2010-01-30 17:31:05 +00:00
161a47caa7
2010-01-30 05:22:17 +00:00
881d739371
BLAS level 1 style "scal" saves even more time in PCG
2010-01-30 04:01:49 +00:00
4913326c22
BLAS level 1 style axpy calls in Vector and VectorConfig shave some seconds off PCG
2010-01-30 02:04:37 +00:00
65bc90bf15
timing VectorConfig to speed up iterative
2010-01-29 13:57:45 +00:00
eb88a149a1
NonlinearFactors handle constrained noise models properly now, as before they would try to whiten and fail
2010-01-28 17:21:24 +00:00
06a062c931
Added special lines for static variables needed for template classes
2010-01-27 19:45:31 +00:00
ed45d436be
add gsl and atlas to configure
2010-01-27 05:15:52 +00:00
bc2a25385f
Added updated timing results.
2010-01-27 05:08:54 +00:00
59c7ce7e29
Integrated householder-based QR into NoiseModel. Note that the examples for GFG have changed to ensure that they are actually a linearized version of the nonlinear example.
2010-01-27 04:39:35 +00:00
98b825ddbd
Fixed loading of datasets
2010-01-27 03:41:23 +00:00
ae073c0120
Comments, and better test of composePoses
2010-01-27 02:49:58 +00:00
8b87eebba6
commented GSl bit
2010-01-27 01:03:49 +00:00
02210cc7e0
Argument order of load changed
2010-01-26 20:31:25 +00:00
9b62b326c9
One more fix, inverse was actually needed in one case.
2010-01-26 20:10:45 +00:00
b82d054aaa
Definitions of Lie::between, Pose2::compose, expmap, and derivatives were not correct. Fixed, but changes some behavior (iSAM and CitySLAM already fixed), will send email about this change.
2010-01-26 20:00:17 +00:00
a0b96e7684
corrected case of Pose2SLAMoptimizer
2010-01-25 14:50:25 +00:00
1685920d52
fixed Ab2 bug
2010-01-23 05:29:04 +00:00
afa964b8db
Fixed sparse bug
2010-01-23 05:16:29 +00:00
744269343f
add print
2010-01-23 04:46:00 +00:00
b092fee64b
pose2slamoptimizer unit tests worked
2010-01-23 03:49:05 +00:00
21c1af2b9f
Collecting more statistics in isam2, logmap for configs
2010-01-23 01:53:04 +00:00
4491db99be
add beijing data set
2010-01-23 01:10:12 +00:00
7644ff0080
optimize returns Vector, does not update
2010-01-23 01:08:42 +00:00
ada844300d
Fixed compile issue in tests
2010-01-23 01:03:47 +00:00
807cffbd61
Pose2SLAMOptimizer prototype for use in MATLAB
2010-01-23 00:57:54 +00:00
7bc4ee65da
allow pure linear steps (disabled)
2010-01-23 00:21:34 +00:00
80d335ed77
added saveGraph function to BayesTree which writes out a dot file which can be visualized using graphviz dot command
2010-01-22 23:52:56 +00:00
e87faa078d
write correct information matrix to data file
2010-01-22 23:20:12 +00:00
2150b24e29
Fixed memory hog problem with Alex's help. SAM marginally faster (3-4% with 1000 poses, might be bigger effect for full dataset)
2010-01-22 23:00:35 +00:00
16c55975c1
Fix inverse_square_root, add cholesky decomposition options
2010-01-22 22:28:03 +00:00
e88ae4a944
add dataset.h/cpp
2010-01-22 20:18:40 +00:00
ab155999cf
simplified alg, but no measureable speed improvement
2010-01-22 18:29:27 +00:00
351cdd18c2
case change: SharedGaussian and SharedDiagonal are now classes with their own header file. Needed for MATLAB TORO hail Mary
2010-01-22 17:36:57 +00:00
490791cd48
add writer module to dump the errors and time
2010-01-22 08:13:54 +00:00
4b778a4e82
fixed a bug in matrix solve function
2010-01-22 06:45:01 +00:00
1d093e388d
changed main algorithm to allow recovery of exact solution
2010-01-22 06:28:12 +00:00
75e29dc015
failing test
2010-01-22 05:45:59 +00:00
5367e5a157
All std::map<Symbol,T> are now SymbolMap<T>, which is just a thin wrapper around std::map. at(Key) is used instead of first checking with find when an exception should be thrown for non-existent keys. This does not change any behavior or timing currently. This check-in also includes some functions in BayesTree for gathering clique statistics.
2010-01-22 04:41:40 +00:00
41a6e64bbb
Fixed insert to use IndexTable, a new class
2010-01-22 02:27:26 +00:00
2cc777228b
coments and variables only
2010-01-21 20:15:52 +00:00
7575996d52
Remove leftover commented out unused code
2010-01-21 19:49:36 +00:00
f89a53ed91
Bugfix in Rot3::logmap. The function checked for a trace of 3, but the check could fail due to rounding errors, causing the function to try to take acos(something larger than 1) resulting in NaNs being returned.
2010-01-21 19:49:12 +00:00
ac746ccead
Improved performance of updateAb in NoiseModel with GSL/ATLAS. Various other small optimizations were made.
2010-01-21 18:51:59 +00:00
2183e09c67
fluid relinearization works
2010-01-21 17:41:54 +00:00
523c8630d3
works at least on already solved data...
2010-01-21 16:09:57 +00:00
0dc4f417e9
sampling from NoiseModel
2010-01-21 08:31:18 +00:00
8fd0c2ae72
new fluid relinearization algorithm, in sync with lyx
2010-01-21 07:38:37 +00:00
9db7623f80
Improved instructions for GSL/ATLAS
2010-01-21 01:03:34 +00:00
063aa14118
Reimplemented matrix::householder_update using GSL and BLAS, you'll need to edit Makefile.am to enable the new version -- see email
2010-01-21 00:59:33 +00:00
188561d925
removeTop/Path now returns a BayesNet to avoid converting the conditionals to a factor graph
2010-01-21 00:38:22 +00:00
eb03f78e7d
Removing dependency hack speeds up compilation
2010-01-20 20:47:15 +00:00
588c119bf3
Added timing script for Matrix::householder_()
2010-01-20 18:52:31 +00:00
5f588031bc
Merged NoiseQR back into trunk
2010-01-20 18:32:48 +00:00
9c9007920a
Changed the interface on Matrix::column() so that it uses the one in our library (now called column_() ) rather than the boost default. Currently, our implementation just uses the boost default, but this may change due to timing results.
2010-01-20 16:08:14 +00:00
98b143cd22
Switched all loop indices in Matrix/Vector to size_t, with improved results in timeGaussianFactorGraph
2010-01-20 14:42:05 +00:00
b4f9163296
Added more labels and results (with higher numbers of repetitions) for timeGaussianFactorGraph
2010-01-20 14:31:24 +00:00
8db99db57e
Small performance improvement for matrix_augmented, with accompanying test in timeGaussianFactor
2010-01-20 14:09:44 +00:00
6bc0462669
Checked Matrix::collect() with different timing metric, and memcpy has approx 25% speedup over original version. Matrix_range is slower or the same speed as the original version.
2010-01-20 13:45:22 +00:00
977a97eacf
rename variable
2010-01-20 09:47:09 +00:00
aae49e43f0
code factorization, speedup
2010-01-20 06:49:19 +00:00
ae908316e0
add comments
2010-01-20 06:34:25 +00:00
19dc8bf4b1
Fixed size() crash when BayesTree empty, added clear() function to BayesTree, added and removed #includes to fix link errors
2010-01-20 04:23:35 +00:00
e767996b45
same bug fix as in ISAM2
2010-01-20 03:54:20 +00:00
55e414cbdd
Tried noalias() for collect(), but no real improvement
2010-01-20 03:25:55 +00:00
3bf15333af
move ordering into the solver, and the nonlinear optimizer is now exact <G, T, L>
2010-01-20 02:28:23 +00:00
03ec3e3e62
Implemented a version of collect() using matrix_range, but it had worse performance than memcpy. New version of vector_scale[column] with new pointer arithmetic implementation for approx 20% improvement.
2010-01-20 02:28:25 +00:00
820ae5682d
Optimized row version of vector_scale with approx 20% improvement
2010-01-20 02:04:25 +00:00
ecde508318
incremental nonlinear working
2010-01-20 01:52:40 +00:00
b860f06614
Switched Matrix::collect() over to a memcpy, but the results weren't actually an improvement
2010-01-20 01:42:36 +00:00
d2291a38d1
bug fixes after COLAMD activiation: BayesTree::insert was wrong, BayesTree::removeTop/Path fixed and simplified
2010-01-20 01:24:32 +00:00
66607897a5
Added vector_scale timing benchmarks
2010-01-20 01:05:40 +00:00
ff83a7b18e
Fixed compile error in testNoiseModel
2010-01-20 01:05:18 +00:00
b47438a86c
Smart named constructors Covariance/Variances/Variance
2010-01-20 00:26:49 +00:00
f577b27f52
Small optimizations on Matrix::collect(), additional timing capabilities, and now collect() can have dimensions specified to avoid need for lookup.
2010-01-19 21:49:22 +00:00
67878830a6
Added timeMatrix.cpp to test specific matrix operations
2010-01-19 20:59:22 +00:00
3cdbaf81c7
Factorgraph-specific QR factorization now done by the NoiseModel: slow Gram-Schmidt for Constrained, fast Housholder for any other (Gaussian) model.
2010-01-19 19:06:02 +00:00
6f2b5a904a
save on fabs
2010-01-19 19:04:37 +00:00
9f4da004c2
got rid of verbose printing
2010-01-19 19:04:18 +00:00
fb0ca07bf1
Added and tested whitening parameter for matrix() and matrix_augmented()
2010-01-19 16:52:01 +00:00
fbee0bd749
Fixing compile issue in SubgraphPreconditioner.h
2010-01-19 13:29:40 +00:00
3806125096
add linear system as a template parameter in nonlinear optimizer
...
fixed a nasty bug and change the internal data type of subgraph preconditioner from reference to boost shared pointer. reference is not a good idea for class members, because no type checking will happen
2010-01-19 10:46:12 +00:00
2eac3b7235
minor typo - comment only
2010-01-19 05:46:04 +00:00
306ac0a4b2
Fixed clobbered checkin
2010-01-19 05:45:25 +00:00
88e465910a
SQP tests and implementation now use the new Key system
2010-01-19 05:33:44 +00:00
2a57a04ba6
get_model
2010-01-19 05:29:31 +00:00
6dcc275432
small comment/print
2010-01-19 04:39:54 +00:00
b01c111a1d
GaussianFactor now uses noiseModel internally - not yet externally
2010-01-19 04:39:28 +00:00
81aaceb890
Whiten now class-specific, access to sigmas
2010-01-19 04:38:58 +00:00
ebbdfc79aa
comment out overflow exception
2010-01-19 04:18:59 +00:00
ef2fb243c2
fixed unit test after colamd change
2010-01-19 03:43:10 +00:00
2507b6aaca
Cleaned up commented line after fix to use the colamd ordering.
2010-01-19 03:16:09 +00:00
0311d2a2a2
Very very small change :-)
2010-01-19 02:57:08 +00:00
0769af6f20
comment
2010-01-19 01:41:44 +00:00
a45893a434
selective incremental linearization works; bug fix in landmark initialization (frank01 again much faster)
2010-01-19 01:18:28 +00:00
a2bce15c4b
selective update of linearization point
2010-01-19 00:15:46 +00:00
0e6607d160
relinearization working, but currently applied to all variables
2010-01-18 22:37:44 +00:00
5e15564525
Speedups: Matrix mult. in Gaussian NoiseModel. Removed size check in operator* in Matrix.h - ublas does this check when in debug mode.
2010-01-18 21:45:44 +00:00
e935f1745e
stop copying matrices...
2010-01-18 21:17:25 +00:00
f8ef284b30
fixed bearing/range, large speedup for batch; incremental creation of Config works
2010-01-18 20:17:31 +00:00
1f0de30a62
Removed unnecessary headers, now only included when GTSAM_MAGIC_KEY is defined
2010-01-18 19:36:02 +00:00
e523b148cf
Moved tree stuff to graph, removed ordering-inl.h
2010-01-18 19:11:22 +00:00
8e3a8f08c8
incremental processing of planarSLAM; bug fix in ISAM2-inl
2010-01-18 18:13:53 +00:00
dfeacb218e
Added tests for Keys, Added TypedLabeledSymbol class to allow for runtime symbols on keys
2010-01-18 16:18:02 +00:00
bbf6cabe9d
generate ordering and pose config in the initialization stage
2010-01-18 09:24:38 +00:00
18414b1286
VectorConfig/Config confusion resolved; planarSLAM integrated
2010-01-18 08:05:33 +00:00
eb3e0067ef
simplify covariance formulation
2010-01-18 07:11:34 +00:00
6a163d1a84
fix compilation error caused by new covariance type
2010-01-18 06:17:01 +00:00
05b07d443e
add linear system solver as a template class parameter in nonlinear optimizer.
2010-01-18 05:51:19 +00:00
a4a6e002e5
NOISE MODEL.
...
This is a big edit but with no templates involed, so it should not be a big deal.
New namespace gtsam::noiseModel collects all noise models, which provide efficient whitening and chain-rule implementation needed for optimization. The class hierarchy gives us the ability to use models from full covariances to i.i.d. unit variance noise with a single interface, where the latter will be much cheaper.
From now on, all non-linear factors take a shared_ptr to a Gaussian noise model. This is done through the parameter (const sharedGaussian& model). The use of a shared pointer allows us to share one noise models for thousands of factors, if applicable.
Just like Richard's Symbol change, there is a compile flag GTSAM_MAGIC_GAUSSIAN which allows you to use doubles, vectors, or matrices to created noise models on the fly. You have to set it to the correct dimension. Use of this is *not* encouraged and the flag will disappear after some good soul fixed all unit tests.
2010-01-18 05:38:53 +00:00
6b2190159d
restored lost changes
2010-01-18 04:53:17 +00:00
42f4ff228b
code cleanup, recovering estimate while dealing with incremental adding of factors, planar with new SLAM
2010-01-18 04:32:45 +00:00
9ac1622514
Removed obsolete files that reappeared after svn crash
2010-01-18 03:00:00 +00:00
149e6cef36
Added an explicit instantiation to fix a link error that was only detected on Linux
2010-01-18 02:23:10 +00:00
aef0b42562
Refactoring to use a new Symbol key instead of strings in Bayes*, Gaussian*, Ordering, Symbolic*, VectorConfig. Renamed existing type-checking key Symbol<C,T> to TypedSymbol<C,T>
2010-01-17 19:34:57 +00:00
ea14959835
NoiseModel inhertance structure reversed, all constructors protected, new static "factories"
2010-01-17 17:47:23 +00:00
87f7e05c15
Identity model
2010-01-17 15:10:10 +00:00
5c6cfec7ab
restored reset
2010-01-17 15:09:28 +00:00
80b3813a16
binary files should not be in repository
2010-01-17 06:09:25 +00:00
fbe425b966
relinearizing part of a BayesTree, requiring caching of intermediate results during elimination
2010-01-17 06:06:20 +00:00
a3fa194ca1
Noisemodel works in PriorFactor
2010-01-17 03:56:42 +00:00
8967027198
Testing R and Whiten
2010-01-17 03:29:23 +00:00
9ddeb569b5
GaussianNoiseModel
2010-01-17 01:28:15 +00:00
3a83e0678d
KISS refactor of NoiseModel
2010-01-17 00:37:34 +00:00
4518069218
2010-01-17 00:35:49 +00:00
09d2cb9101
added numericalDerivative.h to headers
2010-01-16 23:10:38 +00:00
0e17310e23
remove the printf
2010-01-16 22:56:57 +00:00
2174057578
Commented out another NoiseModel unit test
2010-01-16 20:40:47 +00:00
e4eaa22378
Comment out unit test for broken function only used in NoiseModel, working on fixing
2010-01-16 20:18:45 +00:00
049cea6964
3D Pose SLAM + removed obsolete Urban files that somehow re-appeared in CitySLAM
2010-01-16 19:37:17 +00:00
c051be9edf
did not compile
2010-01-16 19:35:50 +00:00
6714ba59f4
delete binary file testPose2Prior
2010-01-16 19:09:13 +00:00
f0ae2c064e
Merging in NoiseModel, not yet used though
2010-01-16 18:39:39 +00:00
99db4c37d8
2D Pose SLAM: created a new templated factor to accommodate GPS measurements, and as part of the refactor I consolidated all Pose2 SLAM classes in pose2SLAM.h. For backwards compatibility it contains
...
typedef pose2SLAM::Prior Pose2Prior;
typedef pose2SLAM::Odometry Pose2Factor;
typedef pose2SLAM::Constraint Pose2Constraint;
typedef pose2SLAM::Config Pose2Config;
typedef pose2SLAM::Graph Pose2Graph;
2010-01-16 18:01:16 +00:00
3c9c8bcfe5
Pose2Prior is now a typedef, improved some derivatives
2010-01-16 16:46:57 +00:00
4914091c87
Pose2Prior test
2010-01-16 15:39:39 +00:00
2605d18152
removed obsolete tests
2010-01-16 14:59:22 +00:00
b0f27c5d4b
set sigma to 1 in pose2prior
2010-01-16 07:50:14 +00:00
a4d61d2f23
Little performance twiddles that make little difference
2010-01-16 07:22:34 +00:00
a8afe0da7c
Forgot pre-multiply of error vector
2010-01-16 07:00:07 +00:00
91a0fb23df
Weighted pseudo-inverse now takes weights (1/sigma^2). Does not make a lot of performance difference.
2010-01-16 06:25:11 +00:00
fce2a668bb
uncomment the commented out unit tests during debugging
2010-01-16 05:10:07 +00:00
f5a6a10feb
debug hard constraint and make pose2prior work
2010-01-16 05:08:29 +00:00
fb3e38b161
25% performance increase by improving weighted_eliminate
2010-01-16 04:57:58 +00:00
26246188af
Added planar graph to timing script
2010-01-16 04:46:35 +00:00
a4ed0a191d
Forgotten header numericalDerivative.h
2010-01-16 04:22:41 +00:00
07c7c4c0bd
print size with ordering
2010-01-16 04:22:21 +00:00
a956c1a8be
svn restored from 1733.
...
this commit updates gtsam to version 1774, which now appears as 1734.
2010-01-16 01:16:59 +00:00
5c0cd093fd
moved relative_bearing to Rot2, changed derivatives to new-style
2010-01-14 16:57:48 +00:00
53a03a0021
Changed signature of tree insert
2010-01-14 16:05:04 +00:00
f645b560ea
Added constructor body
2010-01-14 15:35:23 +00:00
c7e0fe9fd8
fixed template instantiation
2010-01-14 15:32:14 +00:00
e7bf219498
removed .cpp
2010-01-14 15:31:58 +00:00
25372aaa12
c_str
2010-01-14 15:31:42 +00:00
e1388c0f0d
add Ordering-inl.h
2010-01-14 07:56:03 +00:00
dd697a838d
added TupleConfig.h as header
2010-01-14 06:20:34 +00:00
df62213619
RangeFactor works
2010-01-14 06:00:17 +00:00
a552ba4539
Comments/formatting only
2010-01-14 05:59:33 +00:00
8088aea598
Added double as Lie type, needed to remove Lie.h include from Vector.h
2010-01-14 05:58:58 +00:00
Alex Cunningham
Richard Roberts
Chris Beall
Kai Ni
John Rogers
Frank Dellaert
justinca
Viorela Ila
Manohar Paluri
Michael Kaess