Frank Dellaert
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65e4dc1342
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pose2Circle
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2010-01-10 15:46:18 +00:00 |
Richard Roberts
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4fa53a1f79
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Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function.
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2010-01-10 06:35:16 +00:00 |
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Richard Roberts
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2b82ff65e7
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Deriving Lie objects from a base class Lie<T>, which provides member functions to access global functions, for use in MATLAB.
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2010-01-09 23:15:06 +00:00 |
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Frank Dellaert
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5dc237eeea
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BetweenFactor is a template that models the measurement between two Lie types e.g. Pose2 or Pose3. Pose2Factor and Pose3Factor are now simply typedefs.
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2010-01-08 15:32:45 +00:00 |
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Richard Roberts
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19a3e228d7
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Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes.
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2010-01-08 00:40:17 +00:00 |
Alex Cunningham
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20c6f29823
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Moved control-related components to separate library
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2010-01-06 20:01:34 +00:00 |
Kai Ni
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cade0e7780
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fix timing test linking problem by using noinst_PROGRAMS
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2010-01-03 00:23:16 +00:00 |
Manohar Paluri
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68159fb5e4
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corrected SubgraphPreconditioner case
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2010-01-02 20:24:59 +00:00 |
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Frank Dellaert
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f82b46f96c
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Sped up rodriguez and replaced slow implementation with call to fast implementation. Also moved some functions to cpp.
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2010-01-02 14:28:18 +00:00 |
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Frank Dellaert
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a1c55b9f62
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Updated Pose2Config to expected coding standard
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2010-01-02 10:33:33 +00:00 |
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Frank Dellaert
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ff06cd757f
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moved all "Urban" factors and tests to (cmake-based) CitySLAM project
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2009-12-31 16:54:23 +00:00 |
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Frank Dellaert
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a1d14ba2ae
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Added Bayes Net and Subgraph preconditioners to gtsam (developed in CitySLAM project)
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2009-12-31 12:56:47 +00:00 |
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Richard Roberts
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0b9451bc4b
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Initializing libtool correctly in gtsam (see email to frankcvs with same subject)
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2009-12-29 20:01:38 +00:00 |
Michael Kaess
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75ab62a729
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ISAM2 (nonlinear ISAM) partially there, unit test currently disabled
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2009-12-29 05:57:05 +00:00 |
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Frank Dellaert
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0c0b73042b
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template now exposed in iterative.h, and has its own implementation file
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2009-12-28 16:26:16 +00:00 |
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Frank Dellaert
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863ee58c0f
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new iterative.h/cpp compilation unit
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2009-12-28 09:56:58 +00:00 |
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Frank Dellaert
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d9fd502656
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moved CG tests from testGFG to testIterative
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2009-12-28 09:44:30 +00:00 |
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Michael Kaess
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5dfd1921e1
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template nightmare resolved, all tests working
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2009-12-27 23:15:36 +00:00 |
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Frank Dellaert
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7d1428de60
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Added Errors class and operator* for GaussianFactor and GaussianFactorGraph. Also moved a few functions to cpp.
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2009-12-26 22:48:41 +00:00 |
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Michael Kaess
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80ff7e6d26
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uncommented urban In Makefile.am as it prevents linking; added Pose2Prior; ISAM2/planar now working
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2009-12-24 23:44:08 +00:00 |
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Frank Dellaert
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b14094cb1f
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testUrbanOdometry
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2009-12-18 07:15:19 +00:00 |
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Frank Dellaert
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cf1fde7bda
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UrbanFactor, UrbanGraph.cpp, template instantiations
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2009-12-18 02:27:50 +00:00 |
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Frank Dellaert
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7dfc67860c
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unit tests for new Urban* classes
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2009-12-18 01:24:28 +00:00 |
Viorela Ila
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d61d92c0e7
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UrbanGraph class and testUrbanGraph TODOs
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2009-12-17 21:23:50 +00:00 |
Chris Beall
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532ea0ae36
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fixed weird error that several of us have been experiencing with GaussianBayesTree.h appearing twice in the install command. fixed by moving Symbolic inference section above Inference Section.
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2009-12-11 01:38:45 +00:00 |
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Viorela Ila
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1a96534016
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add Pose2Graph
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2009-12-10 23:45:38 +00:00 |
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Viorela Ila
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072dea81b0
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rename Pose2Constraint using Pose2Factor
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2009-12-09 23:43:01 +00:00 |
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Michael Kaess
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72ba1bee24
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separate cpp
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2009-12-09 22:02:50 +00:00 |
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Frank Dellaert
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7d4de3ec20
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Added a 1D manifold implementation of 2D rotations. The new representation stores (cos theta, sin theta) rather than theta itself, ensuring that (a) rotate and unrotate do not call cos/sin, (b) same for all derivatives of rotate and unrotate, (c) when you call angle(), you always get the standardized answer given by atan2. The idea is that we will use this new type in Pose2 instead of angle.
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2009-12-09 21:50:27 +00:00 |
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Viorela Ila
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638b174541
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Pose2Constraint works in matlab
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2009-12-09 19:55:25 +00:00 |
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Michael Kaess
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4200271cf4
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GaussianBayesTree added, testBayesTree split
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2009-12-09 19:39:25 +00:00 |
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Viorela Ila
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b87aa58c1f
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add Pose2Constraint class
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2009-12-09 17:29:43 +00:00 |
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Manohar Paluri
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60a3a21d5a
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Binary Bayes Net, incomplete
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2009-12-06 21:46:46 +00:00 |
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Alex Cunningham
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107c6846fb
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Added basic inequality constraint handling to NonlinearConstraint. Demo still in progress, but now constraints are explicitly handled as either equality or inequality constraints, with an active() function to determine if it is necessary to use the constraint.
Created testOrdering for new subtract() function to remove parts of an ordering.
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2009-11-28 18:35:36 +00:00 |
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Alex Cunningham
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cf6474c99b
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Added a graph implementation for multi-robot control systems. Currently can only really constrain the ends of a trajectory.
Made a number of fixes and updates to the ControlConfig as well.
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2009-11-27 17:59:03 +00:00 |
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Alex Cunningham
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2a2e11d05d
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Added the config and units for a robot control system example that keeps a position and velocity model of a robot's motion.
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2009-11-26 05:52:17 +00:00 |
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Alex Cunningham
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d788e9833d
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Added tests to ensure that configs will only update existing values when using exmap and not add new ones if there are more values in the delta config. VectorConfig and VSLAMConfig both do this properly now.
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2009-11-24 15:12:59 +00:00 |
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Alex Cunningham
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0b333630e7
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Added an SQPOptimizer class with accompanying test - currently doesn't do much
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2009-11-23 19:57:35 +00:00 |
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Michael Kaess
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7d384488e3
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BayesTree::update generalized and moved from testIncremental to BayesTree; testIncremental removed
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2009-11-22 23:35:13 +00:00 |
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Alex Cunningham
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ee4a066275
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Implemented linearization and equality for unary NonlinearConstraints. Current tests use a scalar example. Split out implementation into a separate implementation file.
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2009-11-20 03:04:49 +00:00 |
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Alex Cunningham
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429f27550c
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Added a NonlinearConstraint and testNonlinearConstraint. There is currently an abstract base class for constraints and a partially implemented unary constraint.
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2009-11-19 16:50:18 +00:00 |
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Alex Cunningham
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f98f49381a
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Added an example to testSQP to use for combining graphs
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2009-11-18 21:57:59 +00:00 |
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Michael Kaess
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f56bf8c79f
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added missing include to satisfy stricter compiler; added isam test file
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2009-11-17 21:47:42 +00:00 |
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Alex Cunningham
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20830a1534
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Added testSQP demo to show a simple problem solved by Sequential Quadratic Programming. To see the outputs, set verbose=true at the start of the test.
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2009-11-16 19:12:56 +00:00 |
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Alex Cunningham
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67c2ea8263
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NonlinearEquality factor is now working for generic configs. Currently, the feasible point must be specified in the form of a full config with the point in it, but this avoid needing to increase the requirements on the configs.
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2009-11-13 02:06:52 +00:00 |
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Chris Beall
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6252ff2497
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added testVSLAMGraph unit test. will fail until we can add a constraint to either one of the two cameras.
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2009-11-12 18:55:03 +00:00 |
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Alex Cunningham
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c7b86cec97
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Renamed ConditionalGaussian -> GaussianConditional
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2009-11-12 16:41:18 +00:00 |
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Alex Cunningham
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77a1754b69
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Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph
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2009-11-12 16:16:32 +00:00 |
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Frank Dellaert
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c85f5445db
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Re-organized makefile
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2009-11-12 04:54:31 +00:00 |
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Chris Beall
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710d396d0b
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cleaned up a few includes to make VSLAMGraph work properly after the move into gtsam.
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2009-11-10 22:49:22 +00:00 |