3247751b5d
Major check-in: there are now two interchangeable implementations of VectorConfig.
...
VectorMap uses a straightforward stl::map of Vectors. It has O(log n)
insert and access, and is fairly fast at both. However, it has high overhead
for arithmetic operations such as +, scale, axpy etc...
VectorBTree uses a functional BTree as a way to access SubVectors
in an ordinary Vector. Inserting is O(n) and much slower, but accessing,
is O(log n) and might be a bit slower than VectorMap. Arithmetic operations
are blindingly fast, however. The cost is it is not as KISS as VectorMap.
Access to vectors is now exclusively via operator[]
Vector access in VectorMap is via a Vector reference
Vector access in VectorBtree is via the SubVector type (see Vector.h)
Feb 16 2010: FD: I made VectorMap the default, because I decided to try
and speed up conjugate gradients by using Sparse FactorGraphs all the way.
2010-02-17 03:29:12 +00:00
1cc5bf748b
make file changes and added make targets to the cproject
2010-02-14 07:26:10 +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
65bc90bf15
timing VectorConfig to speed up iterative
2010-01-29 13:57:45 +00:00
1685920d52
fixed Ab2 bug
2010-01-23 05:29:04 +00:00
b092fee64b
pose2slamoptimizer unit tests worked
2010-01-23 03:49:05 +00:00
807cffbd61
Pose2SLAMOptimizer prototype for use in MATLAB
2010-01-23 00:57:54 +00:00
41a6e64bbb
Fixed insert to use IndexTable, a new class
2010-01-22 02:27:26 +00:00
0dc4f417e9
sampling from NoiseModel
2010-01-21 08:31:18 +00:00
5f588031bc
Merged NoiseQR back into trunk
2010-01-20 18:32:48 +00:00
67878830a6
Added timeMatrix.cpp to test specific matrix operations
2010-01-19 20:59:22 +00:00
88e465910a
SQP tests and implementation now use the new Key system
2010-01-19 05:33:44 +00:00
0e6607d160
relinearization working, but currently applied to all variables
2010-01-18 22:37:44 +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
3a83e0678d
KISS refactor of NoiseModel
2010-01-17 00:37:34 +00:00
049cea6964
3D Pose SLAM + removed obsolete Urban files that somehow re-appeared in CitySLAM
2010-01-16 19:37:17 +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
4914091c87
Pose2Prior test
2010-01-16 15:39:39 +00:00
df62213619
RangeFactor works
2010-01-14 06:00:17 +00:00
ac10c440e1
PairConfig is implemented, VSLAMConfig is now a typedef!
2010-01-14 02:58:29 +00:00
5a02b36723
Solved some linking problems
2010-01-14 01:44:00 +00:00
4369cd2d92
1) add a compose function that compose all the poses in a factor graph given the spanning tree
...
2) add a new graph-inl.h which takes care of all the boost graph related functions to prevent the copy and paste across several classes
2010-01-12 16:12:25 +00:00
769763a35d
new target/ignore
2010-01-12 03:16:45 +00:00
1dcc864d97
Comment cleanup to /** style and adding global print functions
2010-01-10 22:41:23 +00:00
1a96ef41cf
Created Pose3Config, Pose3Graph, and tested loop closure optimization.
2010-01-10 18:21:20 +00:00
65e4dc1342
pose2Circle
2010-01-10 15:46:18 +00:00
794ffd3b2f
Fixed significant bug in Pose2Factor, where we forgot to multiply the error with the square root inverse covariance.
2010-01-10 13:55:55 +00:00
4fa53a1f79
Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function.
2010-01-10 06:35:16 +00:00
e5fe4a69f7
change no. of build processes in eclipse to 2
2010-01-08 07:51:29 +00:00
9845a5ae37
add findMinimumSpanningTree to FactorGraph
2010-01-06 11:15:37 +00:00
f82b46f96c
Sped up rodriguez and replaced slow implementation with call to fast implementation. Also moved some functions to cpp.
2010-01-02 14:28:18 +00:00
a1c55b9f62
Updated Pose2Config to expected coding standard
2010-01-02 10:33:33 +00:00
603b692406
New Targets
2009-12-31 12:57:06 +00:00
75ab62a729
ISAM2 (nonlinear ISAM) partially there, unit test currently disabled
2009-12-29 05:57:05 +00:00
d9fd502656
moved CG tests from testGFG to testIterative
2009-12-28 09:44:30 +00:00
5dfd1921e1
template nightmare resolved, all tests working
2009-12-27 23:15:36 +00:00
b14094cb1f
testUrbanOdometry
2009-12-18 07:15:19 +00:00
7dfc67860c
unit tests for new Urban* classes
2009-12-18 01:24:28 +00:00
a9dc57db2c
2009-12-09 21:00:53 +00:00
8e079a9794
add testPose2Constraint.run target
2009-12-09 17:30:47 +00:00
107c6846fb
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.
2009-11-28 18:35:36 +00:00
cf6474c99b
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.
2009-11-27 17:59:03 +00:00
2a2e11d05d
Added the config and units for a robot control system example that keeps a position and velocity model of a robot's motion.
2009-11-26 05:52:17 +00:00
d788e9833d
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.
2009-11-24 15:12:59 +00:00
7d384488e3
BayesTree::update generalized and moved from testIncremental to BayesTree; testIncremental removed
2009-11-22 23:35:13 +00:00
82aae3c161
Some re-factoring (using BOOST_FOREACH to loop over string list), root is now NULL after removing root clique
2009-11-21 21:48:10 +00:00
429f27550c
Added a NonlinearConstraint and testNonlinearConstraint. There is currently an abstract base class for constraints and a partially implemented unary constraint.
2009-11-19 16:50:18 +00:00
ceed2ae17d
symbolic tree in testIncremental
2009-11-18 15:37:19 +00:00
20830a1534
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.
2009-11-16 19:12:56 +00:00
fc440f823b
New make targets
2009-11-13 06:20:41 +00:00
Frank Dellaert
Manohar Paluri
Alex Cunningham
Kai Ni
Michael Kaess
Richard Roberts
Viorela Ila