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1266 Commits (2978664cbdd20e424f979cd5f4c1b2cb7eb17ec1)

Author SHA1 Message Date
dellaert fd71974ff3 Got mostly rid of computeEP: just a call to cameras.project2 2015-02-25 20:52:16 +01:00
dellaert 850470ef06 rename of computeJacobians overloads to better reflect functionality 2015-02-25 19:30:17 +01:00
Paul Drews abfcfa1a17 Merged 'develop'. 2015-02-25 11:00:46 -05:00
Paul Drews 9991ae04f3 Fixed unit tests 2015-02-25 10:59:25 -05:00
thduynguyen b9dbde14f2 fix file heading comments for doxygen 2015-02-25 09:09:33 -05:00
thduynguyen bd16c52e7c support params and verbosity debug info for LinearConstraintSQP 2015-02-25 08:07:40 -05:00
thduynguyen d80caeb44b small comment fix 2015-02-24 23:41:39 -05:00
thduynguyen d9773da125 rename classes 2015-02-24 23:40:53 -05:00
thduynguyen d2f919e632 Linear[In]EqualityFactorGraph --> [In]EqualityFactorGraph 2015-02-24 22:25:26 -05:00
thduynguyen ce50219f9d fix comments for doxygen 2015-02-24 22:15:41 -05:00
thduynguyen 54121ad26b add test for InfeasibleIntialValues exception 2015-02-24 22:10:07 -05:00
thduynguyen 0c025f798c fix comments 2015-02-24 22:09:31 -05:00
Paul Drews 8a88f101db Fix deprecation warnings 2015-02-24 21:58:17 -05:00
thduynguyen 95bb10d44a make QPSolver throws an exception if the provided initial values are infeasible 2015-02-24 21:49:27 -05:00
dellaert d7b5156dcc rename to reprojectionErrorAfterTriangulation 2015-02-25 01:14:36 +01:00
dellaert eb28d0ffa8 Restored reprojectionErrors -> reprojectionError 2015-02-24 14:09:35 +01:00
dellaert d6f54475c3 BIG change: SmartFactorBase and SmartProjectionFactor now templated on CAMERA 2015-02-23 12:43:43 +01:00
dellaert 64bb6b77d7 Merged in feature/SmartCT (pull request #107) 
Refactoring of Smart Factors
 2015-02-22 06:14:19 +01:00
zhaoyang 1d81572894 Capitalize static methods in ordering.h 
This commit involves the API change. Related files in gtsam have been changed. All the tests examples run without issue.
 2015-02-21 13:16:03 -05:00
Paul Drews b53c26c934 Merge remote-tracking branch 'origin/develop' into feature/Similarity 
Conflicts:
	.cproject
 2015-02-20 00:36:52 -05:00
thduynguyen ba4698bf51 add comments, fix format, make test compiled 2015-02-19 08:51:54 -05:00
Paul Drews f9ccd23d4a Refactored into class and unit test 2015-02-19 01:21:20 -05:00
thduynguyen d8e184fadd fix traits::dimension 2015-02-18 09:13:15 -05:00
krunalchande 23dbaad23e Added test to test iterative framework. DOES NOT WORK YET. 2015-02-18 07:48:40 -05:00
krunalchande f1703db4aa Added comments 2015-02-18 07:48:40 -05:00
krunalchande 37fe405872 Added warmStart flag. 2015-02-18 07:48:39 -05:00
krunalchande 6b2b96ca2a updated with current constructor whch needs number of iterations 2015-02-18 07:47:55 -05:00
krunalchande 3142f0a9a7 disabled test 2015-02-18 07:47:55 -05:00
krunalchande 2476bbe8d7 can pass debug flag as parameter. 2015-02-18 07:47:55 -05:00
krunalchande 3e352f109e Added warm start for initializing active set. 2015-02-18 07:47:54 -05:00
krunalchande f4a4ce4325 added debug print statements 2015-02-18 07:47:54 -05:00
krunalchande e74b737a66 box-constraints unit test passed with prior and between factors 2015-02-18 07:47:53 -05:00
krunalchande 3653e93338 fix bug in dual feasibility check. We want dual variables < 0. 2015-02-18 07:47:53 -05:00
krunalchande 121feb2281 disable printing 2015-02-18 07:47:53 -05:00
krunalchande bcdeddbda1 Compute the least-square values of dual variables instead of forcing them to satisfy the stationarity condition exactly. This fixes an infinite-loop bug in QPSolver when a constraint was continuously added to and removed from the active set. 2015-02-18 07:47:53 -05:00
krunalchande 276959e39a remove support for nonlinear constraints. Refactor SQPSimple to LCNLPSolver. 2015-02-18 07:47:53 -05:00
krunalchande 0fdd49ca4e Removed LinearEqualityManifoldFactorGraph. 2015-02-18 07:47:52 -05:00
krunalchande e0e5e72020 Fixed includes 2015-02-18 07:47:52 -05:00
krunalchande 79b69d4489 [unfinished] unit test with multiple betweenFactors with box constraint. 2015-02-18 07:47:52 -05:00
krunalchande 1dd23ced02 Simple unit test for NonlinearInequalityFactorGraph. 2015-02-18 07:47:52 -05:00
krunalchande de7149af63 Added licensing information. 2015-02-18 07:47:52 -05:00
krunalchande 2523fa2fe5 removed comment 2015-02-18 07:47:51 -05:00
krunalchande b6d85e83ae Fixed includes. 2015-02-18 07:47:51 -05:00
krunalchande c99a848148 Refactoring. 2015-02-18 07:47:51 -05:00
krunalchande d435fa72df removed all printing 2015-02-18 07:47:51 -05:00
krunalchande cc0e5cd3ca Working nonlinear inequality constraints with unit tests. 2015-02-18 07:47:51 -05:00
krunalchande fd461a1c15 [unfinished] prototyping inequality SQP with Luca. 2015-02-18 07:47:50 -05:00
krunalchande ecc87bdb2b Added test with pose and a line equality constraint. Works but hessian is incorrect. So basically using nonlinearequality vs linearequality makes no difference. 2015-02-18 07:47:50 -05:00
krunalchande 29e6e67de7 added debug info, fixed unit test, added nonlinear constraint (circle) test. Doesn't work because of negative definite hessian obtained from multiplying the dual with the constraint hessian. 2015-02-18 07:47:50 -05:00
krunalchande ccc243d37a Obtain dim by using traits. 2015-02-18 07:47:50 -05:00
krunalchande 147d174a66 test files deprecated, might be removed later 2015-02-18 07:47:49 -05:00
krunalchande 6d76b5910c added comments 2015-02-18 07:47:49 -05:00
krunalchande 2b1cc7bf22 Added Simple QP solver and test. Unit test doesn't work yet 2015-02-18 07:47:49 -05:00
krunalchande 3af06ef029 Added nonlinearconstraint and tests 2015-02-18 07:47:49 -05:00
krunalchande 7d2f69335d Added constructor 2015-02-18 07:47:48 -05:00
krunalchande b4c5237925 Added structure of test and class. Left with implementation. 2015-02-18 07:47:48 -05:00
Paul Drews 42d8e1fcb2 Working Sim3 Transform 2015-02-13 09:06:08 -05:00
cbeall3 5afc3c4cea again: overlooked Dim -> dimension because this factor has no unit test! 2015-01-28 16:48:12 -05:00
Paul Drews db73a0dd1d Working, with stub log/expmap and identity 2015-01-28 14:55:13 -05:00
Paul Drews 10b56a115c Working Similarity3 transform with unit tests. 2015-01-26 13:38:32 -05:00
Paul Drews c6b3535dda retract works, local coordiantes still broken 2015-01-25 01:28:16 -05:00
Paul Drews a87a3dd987 Rotation works, translation and scale incorrect 2015-01-24 22:42:48 -05:00
cbeall3 b1cea2bee7 overlooked Dim -> dimension because this factor has no unit test! 2015-01-23 14:29:25 -05:00
Paul Drews d28ef19b9a Merge remote-tracking branch 'origin/develop' into feature/Similarity 
Partial update of Similarity to BAD

Conflicts:
	.gitignore
 2015-01-23 08:10:21 -05:00
Paul Drews bade68fa33 Simple single prior optimization 2015-01-12 12:58:17 -05:00
Paul Drews a88b10eacc Working similarity3 transform with unit tests 2015-01-07 09:57:48 -05:00
Paul Drews 89460fe931 Unit tests still fail, but believed to be correct. 2015-01-02 09:02:43 -05:00
dellaert e119846280 Updated examples and test 2014-12-28 19:10:41 +01:00
dellaert c58f2c15dc Moved to gtsam 2014-12-28 19:09:12 +01:00
dellaert 3587ad4e2c Merge remote-tracking branch 'origin/develop' into feature/SoundSlam 
Conflicts:
	examples/SFMExampleExpressions.cpp
 2014-12-28 18:53:09 +01:00
dellaert 7c455efe50 Made Event into new-style manifold 2014-12-28 18:24:00 +01:00
dellaert 2ee192e950 Fix header 2014-12-28 18:23:22 +01:00
dellaert f9c353d4a5 Merge remote-tracking branch 'origin/develop' into feature/SoundSlam 
Conflicts:
	.cproject
	gtsam/base/LieMatrix.h
	gtsam/base/LieVector.h
	gtsam/base/OptionalJacobian.h
	gtsam/base/tests/testOptionalJacobian.cpp
	gtsam/geometry/Cal3_S2Stereo.h
	gtsam/geometry/CalibratedCamera.h
	gtsam/geometry/PinholeCamera.h
	gtsam/geometry/Point2.h
	gtsam/geometry/Point3.h
	gtsam/geometry/Pose2.cpp
	gtsam/geometry/Pose2.h
	gtsam/geometry/Pose3.cpp
	gtsam/geometry/Pose3.h
	gtsam/geometry/Rot2.cpp
	gtsam/geometry/Rot2.h
	gtsam/geometry/Rot3.cpp
	gtsam/geometry/Rot3.h
	gtsam/geometry/Rot3M.cpp
	gtsam/geometry/Rot3Q.cpp
	gtsam/geometry/Unit3.cpp
	gtsam/geometry/tests/testRot3.cpp
	gtsam/nonlinear/AdaptAutoDiff.h
	gtsam/nonlinear/Expression-inl.h
	gtsam/nonlinear/Expression.h
	gtsam/nonlinear/tests/testExpression.cpp
	gtsam/slam/RangeFactor.h
	timing/timeAdaptAutoDiff.cpp
	timing/timeCameraExpression.cpp
 2014-12-28 17:45:41 +01:00
dellaert 9b5136d35c Moved examples 2014-12-28 17:15:14 +01:00
dellaert 401ee70364 Fixed overload resoltion error in template matching by removing overloads in traits 2014-12-28 17:14:04 +01:00
dellaert c4457682bc Fixed header file 2014-12-28 17:13:20 +01:00
dellaert a454327e7b Moved include file 2014-12-28 16:44:32 +01:00
dellaert 111b9511ac Moved timing files 2014-12-28 16:40:40 +01:00
dellaert 3ebcfc5ce0 make timing compiles 2014-12-28 16:37:54 +01:00
dellaert 097f0fb80d Fix paths 2014-12-28 14:51:19 +01:00
dellaert c8faa102e3 Moved EexpressionFactor related files to gtsam 2014-12-28 13:48:13 +01:00
dellaert e5017984a1 traits_x -> traits 2014-12-26 16:47:51 +01:00
dellaert aaf4588f20 Improved simple helicopter 2014-12-26 00:53:36 +01:00
dellaert 902e7e57e5 Fixing helicopter 2014-12-26 00:21:33 +01:00
thduynguyen 11858da42b fix testSimpleHelicopter 2014-12-25 17:25:42 -05:00
dellaert afe20d83bd Dealing with Pose3 mojo loss 2014-12-25 20:04:28 +01:00
dellaert 47ff09f6c8 Pose3 lost its mojo! But there are errors in Expmap/Logmap derivatives around identity... 2014-12-25 19:43:32 +01:00
dellaert 5c0db68152 Fixed compile error from develop 2014-12-25 18:16:47 +01:00
dellaert 78386ad144 Merge ExmapeDerivative/LogmapDerivative changes from 'origin/develop' into feature/tighteningTraits 
Conflicts:
	gtsam/base/LieScalar.h
	gtsam/geometry/Point2.h
	gtsam/geometry/Point3.h
	gtsam/geometry/Rot3.h
	gtsam/geometry/Rot3M.cpp
	gtsam/geometry/Rot3Q.cpp
	gtsam/geometry/tests/testRot3.cpp
 2014-12-24 13:55:15 +01:00
dellaert d9f5681dc2 Fixed warning 2014-12-24 11:34:53 +01:00
dellaert 3d15868ece Renamed internal::LieGroup -> internal::LieGroupTraits 2014-12-24 01:34:33 +01:00
dellaert ea3b4624d8 Testable concept prereqs check 2014-12-23 14:56:48 +01:00
Mike Bosse 52ec4f0784 fixed serialization tests 2014-12-23 12:35:49 +01:00
dellaert c6ae119414 Tightened what is needed for Lie, i.e., fewer versions of retract/localCoordinates 2014-12-22 23:42:52 +01:00
dellaert f5c9c24330 Corrected sillyness 2014-12-22 23:41:42 +01:00
dellaert 355b938f3a Point3 loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 17:22:45 +01:00
dellaert 5473550eea Using traits in many places (forced by loss of Point2 mojo) 2014-12-22 16:02:33 +01:00
Mike Bosse 4a708c855f fixed testExpressionFactor.cpp 2014-12-22 11:33:52 +01:00
Mike Bosse a6f612844f fixed testTSAMFactors.cpp 2014-12-22 09:39:51 +01:00
dellaert 06c3696176 Fixed more problems so everything compiles now after splitting up concepts into Group/Manifold/Lie/VectorSpace. Still 25 tests that fail. 2014-12-22 02:52:31 +01:00
dellaert 99a50a2f87 Split up concepts into Group/Manifold/Lie/VectorSpace. Also fixed some implementations and put in exceptions elsewhere, rather than CONCEPT_NOT_IMPLEMENTED macro. 2014-12-22 02:50:52 +01:00
dellaert 79d8514528 MASSIVE edit: made Testable its own concept, and moderinized Testable.h to use Testable traits. This required adding Testable traits in many classes. 2014-12-21 22:02:57 +01:00
dellaert 00b374c9e9 Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits 
Conflicts:
	gtsam/base/LieScalar.h
	gtsam/geometry/Point2.h
 2014-12-21 14:39:23 +01:00
Mike Bosse d0e1c1a770 test compiling!! but 34 tests failed out of 198 2014-12-20 20:36:54 +01:00
Mike Bosse b7204b100d PoseRTV 2014-12-20 20:22:34 +01:00
thduynguyen b39d14872a remove lpsolve 2014-12-16 11:27:20 -05:00
Mike Bosse 07bcc18d43 fixed testTSAMFactors 2014-12-15 23:23:40 +01:00
krunalchande 44477e12f2 Fixed initialization error for active_ 2014-12-15 11:47:04 -05:00
Paul Furgale c0e4f76d94 More manifolds...more numerical differentiation...more. 2014-12-14 18:59:57 +01:00
Paul Furgale da4c44e12d More progress 2014-12-14 15:26:43 +01:00
dellaert 2225c10fc0 use ExpressionFactorGraph 2014-12-13 08:35:22 +01:00
thduynguyen 48b08bd58e more informative print for LinearInequality showing its active/inactive state 2014-12-13 01:04:46 -05:00
thduynguyen c4b574774a remove LinearConstraint. It is replaced by LinearEquality 2014-12-13 01:04:08 -05:00
krunalchande da318184ae sync with develop branch commit c1f048d 2014-12-12 18:46:54 -05:00
krunalchande e539738fd0 Remove support for dual keys. Added finished() after all matrices and vectors. Remove buildDualGraph from GaussianFactorGraph. Remove support for multipliedHessians for non-linear equality constraints. 2014-12-12 17:23:31 -05:00
krunalchande 181bfb4f0f Added support for compiling lpsolve on linux. Windows not tested 2014-12-12 17:21:07 -05:00
thduynguyen e12add2739 Merged in develop (pull request #71). Resolve conflicts. 2014-12-12 15:34:53 -05:00
thduynguyen 593795f65b use Eigen's predefined RowVector typedef 2014-12-12 12:51:19 -05:00
thduynguyen ac6f10ea74 enforce RowVector as Jacobian for single-valued linear inequalities 2014-12-12 12:43:07 -05:00
thduynguyen a26ef7b7a2 refactor QPSolver to work with single-valued linear inequality factors. Unit tests passed. 2014-12-12 12:03:00 -05:00
thduynguyen 6d68f5ffff equality constraints are always active 2014-12-12 12:02:06 -05:00
thduynguyen 4f28eace7e LinearInequality now only supports single-valued function. Add active/activate/inactivate function to use in the qp active set method. 2014-12-12 12:01:16 -05:00
Paul Drews a7b8e60272 Unit test failure, either retraction or localCoordinates is wrong for rotation 2014-12-12 10:38:59 -05:00
Paul Drews c6e4cd5e03 Operational Sim3 with basic unit tests 2014-12-12 10:12:58 -05:00
Paul Drews 69f27b9488 Additional unit test 2014-12-12 08:43:57 -05:00
dellaert 8f27b048f1 Moved experiment to doubleExpresso project 2014-12-12 08:53:32 +01:00
dellaert 541217175c Added ExpressionFactorGraph (should go away with move of ExpressionFactor to gtsam) 2014-12-12 08:00:02 +01:00
dellaert fa7071bdd8 Comments, renaming 2014-12-12 07:45:09 +01:00
dellaert 8cc813f03e Removed misguided Factory attempt in favor of direct expressions 2014-12-12 07:31:33 +01:00
Paul Drews 8c4468185a Take a stab at localCoordinates 2014-12-11 22:54:02 -05:00
dellaert a9121fc3fc Now it's super-easy to create priors on pieces of state. 2014-12-11 13:45:15 +01:00
dellaert 31ca0d76db Added unary version 2014-12-11 13:44:47 +01:00
dellaert cedf2647d2 Use handy dandy Factor Factory 2014-12-11 13:19:37 +01:00
dellaert 29dc382c22 Fixed small bug 2014-12-11 13:19:19 +01:00
dellaert f588a3928a Added handy dandy Factor Factory 2014-12-11 13:19:08 +01:00
dellaert d37216cde3 TOAFactor header 2014-12-10 22:50:41 +01:00
dellaert bb00e375da Print for MATLAB 2014-12-10 21:44:56 +01:00
dellaert dc84b6589e Added in real experimental data gathered by Jay at KU Leuven 2014-12-10 21:12:38 +01:00
dellaert d17caa5487 Event header and test file 2014-12-10 19:14:18 +01:00
dellaert 5d6e0bc753 Optimization test succeeds, but only with 5th microphone... 2014-12-10 19:00:52 +01:00
dellaert 2dcbc72d8d Derivatives work !!! 2014-12-10 17:58:35 +01:00
dellaert 0ceb09262c Put in prototype derivatives, needs unit test 2014-12-10 16:06:34 +01:00
dellaert cca1a54544 Everything done, except derivatives !!! 2014-12-10 16:02:13 +01:00
dellaert d54c70202a TOAFactor compiles and can be put into a factor graph 2014-12-10 15:43:31 +01:00
dellaert ba1a2685bc Not-working yet, but lots of progress towards TOAFactor 2014-12-10 15:10:59 +01:00
dellaert 5ce007446d Merge remote-tracking branch 'origin/develop' into feature/SoundSlam 
Conflicts:
	.cproject
 2014-12-10 14:47:58 +01:00
dellaert 777aa005b4 Developing time of arrival factor with Jay at KU Leuven 2014-12-10 14:24:10 +01:00
dellaert 22218eafc4 We will not wrap fixed Vectors and Matrices individually. Methods that take those can just as well be wrapped with Vector or Matrix. Note const and & are ignored for those. I added a small method, insertFixed, that allows one to put in small fixed size matrices for optimization. Did not do retrieval yet. 2014-12-10 10:45:22 +01:00
thduynguyen ba903536c8 fix ACTIVE/INACTIVE constants as Frank suggested 2014-12-09 22:29:21 -05:00
thduynguyen 565eb99948 remove a TODO as it's done. 2014-12-09 22:28:39 -05:00