55 Commits (2897accd8dab585801ad4616df51fc57f736dce0)

Author	SHA1	Message	Date
kartik arcot	a77b5bc1d7	boost::variant -> std::variant	2023-02-05 15:04:15 -08:00
kartik arcot	773d4975e6	remove all adaptors	2023-01-23 18:28:55 -08:00
Frank Dellaert	3b94469ce2	Merge branch 'develop' into feature/remove_boost_in_Values	2023-01-22 21:32:27 -08:00
Frank Dellaert	79682c2d8e	Deprecated boost iterators in Values	2023-01-22 17:04:49 -08:00
kartik arcot	852e8768c0	shared_ptr, make_shared, allocate_shared	2023-01-22 08:40:02 -08:00
kartik arcot	1f833a0bc3	nonlinear	2023-01-21 09:27:20 -08:00
Frank Dellaert	d18795e844	Some last cosmetic changes to make update fit on single screen	2019-06-03 17:29:21 -04:00
Frank Dellaert	18553feb03	Recalculate now removes top	2019-06-03 14:57:25 -04:00
Frank Dellaert	6f7e92afdc	Make error calculation concise	2019-06-03 14:12:31 -04:00
Frank Dellaert	3ab9a1e3cc	Made detail handling more explicit in update	2019-06-03 14:12:10 -04:00
Frank Dellaert	62233395b2	made gatherInvolvedKeys more explicit	2019-06-03 13:39:16 -04:00
Frank Dellaert	3b51bae5c1	made markedKeys explicit	2019-06-03 12:33:05 -04:00
Frank Dellaert	1757198463	Moved recalculate back to iSAM2.cpp	2019-06-02 01:51:14 -04:00
Frank Dellaert	38d59eed68	Split recalculate for clarity	2019-06-02 01:09:01 -04:00
Frank Dellaert	8b01b81027	Split up relinearize again for clarity	2019-06-02 00:41:17 -04:00
Frank Dellaert	696d8076d1	Removed unusedIndices	2019-06-01 23:55:50 -04:00
Frank Dellaert	42b5f81633	Now using add_factors	2019-06-01 18:03:29 -04:00
Frank Dellaert	ecacda68c0	Further refactored pushNewFactors	2019-06-01 17:34:24 -04:00
Frank Dellaert	1a29ab5533	Refactored iSAM2::update to reveal what is changed when	2019-06-01 17:34:24 -04:00
Frank Dellaert	d6edc217ab	Changed several Impl functions to methods in ISAM2 and ISAM2Clique	2018-09-30 14:11:00 -04:00
Frank Dellaert	a31294d777	Modernized, cleaned up, and turned off non-recursive version (fow now) because it has a bug.	2018-09-29 17:52:20 -04:00
dellaert	fad9462661	A better solution through typedef of FactorIndices -> FastVector<size_t>	2016-02-25 23:51:01 -08:00
dellaert	128bac616c	Globally replaced FastSet<Key> with KeySet.	2015-06-20 18:38:25 -07:00
Richard Roberts	7192bd2f79	Removed namespace-functions for ISAM2 optimize* and gradient*, these were only there to try to maintain a consistent interface for linear but really were not correct anyway since ISAM2 is a nonlinear object. They instead caused confusion and made the code complicated since they used a complicated system for updating and caching various components that go into calculating the solution. Replaced all this with much simpler code directly inside updateDelta, which uses clearly-defined functions in the ISAM2::Impl class to calculate the components that go into the solution. Also removed the redundant deltaUpToDate flags - now just checks whether deltaReplacedMask is empty.	2014-02-22 16:46:38 -05:00
Richard Roberts	fa5d08d9a6	Option to reuse old factor slots in ISAM2	2013-11-18 19:23:09 +00:00
Richard Roberts	ec78d54f37	Removed old Index typedef and IndexFormatter	2013-11-08 16:35:28 +00:00
Richard Roberts	bd89c5fd45	Using FastVector (with tbb allocator) instead of vector	2013-08-15 17:21:20 +00:00
Richard Roberts	789f2bee97	ISAM2 compiling and fixed several issues but still some unit tests failing	2013-08-09 21:35:47 +00:00
Richard Roberts	a98180f84f	Working on converting ISAM2	2013-08-08 21:41:29 +00:00
Richard Roberts	ede0805fac	Global find+replace to remove Ordered	2013-08-05 22:31:44 +00:00
Richard Roberts	cb7eb1b510	Find+replace Ordered headers	2013-08-05 22:31:33 +00:00
Richard Roberts	0d05bf5ac5	Started on HessianFactor, converted Nonlinear stuff and disabled a lot of more advanced classes so the library compiles with nonlinear using unordered.	2013-08-01 21:57:43 +00:00
Richard Roberts	3ade190128	Renamed old classes to "Ordered" and removed "Unordered" name from new classes	2013-07-29 23:55:40 +00:00
Richard Roberts	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
Richard Roberts	cd300bfeff	First pass at marginalization of leaves in iSAM2 - passes unit tests but needs to be tested on real data	2013-02-24 19:09:54 +00:00
Richard Roberts	b58fb71377	Some usage (still more to do) of sparse and partial permutations in iSAM2 partial reordering to improve asymptotic performance.	2012-12-18 14:21:28 +00:00
Richard Roberts	0c3761a2a9	Reverted r14178, r14179, r14195, r14196 (isam2 chain optimizations) to move them to a branch	2012-11-11 20:51:03 +00:00
Richard Roberts	4512e4c85d	Some usage (still more to do) of sparse and partial permutations in iSAM2 partial reordering to improve asymptotic performance.	2012-11-03 21:10:58 +00:00
Chris Beall	4297d24c96	changed tabs to spaces for consistent indentation in all of GTSAM	2012-10-02 14:40:07 +00:00
Richard Roberts	d7af0b9b5b	Renamed arguments for consistency	2012-10-01 16:12:34 +00:00
Richard Roberts	96fc5991db	Automatic removal of unused variables in iSAM2 working in unit tests!	2012-06-30 22:32:49 +00:00
Richard Roberts	abd6795f5b	In progress removing variables from iSAM2	2012-06-30 19:17:54 +00:00
Richard Roberts	57ca7d77db	Removed Permuted views to simplify a lot of code - all objects that need to be permuted now have their data rearranged instead of using the "Permuted" indirection class.	2012-06-30 01:45:21 +00:00
Stephen Williams	c7ff913f64	Added yet another configuration parameter to iSAM2. 'enablePartialRelinearizationCheck' checks variables for relinearization by descending the Bayes tree. Once a variable does not need to be relinearized, we stop checking that branch. A full check is still the default.	2012-06-28 20:46:53 +00:00
Summit Patel	533a7548dd	Fixed Doxygen warnings.	2012-06-08 19:05:13 +00:00
Richard Roberts	a23127a315	Removed using namespace in header files	2012-06-08 14:33:36 +00:00
Richard Roberts	1ce95c1d89	Removed LDL in favor of Cholesky	2012-05-15 15:49:14 +00:00
Richard Roberts	ba8fb0ba27	iSAM2 factorization parameter to choose LDL or QR	2012-03-27 23:30:19 +00:00
Richard Roberts	3baba11815	Fine-grained ordering constraints in iSAM2	2012-03-24 16:52:55 +00:00
Richard Roberts	6356647665	Bug fixes and using wildfire with Dogleg	2012-03-19 16:25:03 +00:00