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
2f16d8f6a1
Changed the order of constructor initializers in GaussianFactor to remove compiler warnings
2010-02-01 16:04:14 +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
ac870bce4c
GaussianFactor::transposeMultiplyAdd
2010-01-31 03:33:53 +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
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
5f588031bc
Merged NoiseQR back into trunk
2010-01-20 18:32:48 +00:00
b47438a86c
Smart named constructors Covariance/Variances/Variance
2010-01-20 00:26:49 +00:00
fb0ca07bf1
Added and tested whitening parameter for matrix() and matrix_augmented()
2010-01-19 16:52:01 +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
b01c111a1d
GaussianFactor now uses noiseModel internally - not yet externally
2010-01-19 04:39:28 +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
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
3c66861790
fix the graph related functions in FactorGraph as well as its unit tests
2010-01-13 23:59:46 +00:00
266fc56dea
Gradient using new operator^ and errors method
2009-12-27 12:13:31 +00:00
7d1428de60
Added Errors class and operator* for GaussianFactor and GaussianFactorGraph. Also moved a few functions to cpp.
2009-12-26 22:48:41 +00:00
c38683cd64
Sped up and fixed (?) sparse
2009-12-12 06:18:29 +00:00
a66f08a5e0
testing new alphaFactor
2009-12-11 18:03:43 +00:00
f91a1f0192
error_vector
2009-12-11 17:42:54 +00:00
726858145a
gradient descent (with fixed nr. of iterations, choosing optimal step size)
2009-12-11 04:59:05 +00:00
e7a912bd3b
Calculate gradient of factor graph objective function.
2009-12-10 20:19:15 +00:00
f44af12836
Renamed variable
2009-12-10 15:34:09 +00:00
2a4e90a283
Re-factored append_factor to use FOREACH_PAIR
2009-12-05 02:00:20 +00:00
e98081f92c
changes to append_factor which give more than 2x speedup on my data. Matrices in As are no longer copied/edited/replaced each time they need to be changed, but created once and then updated in place.
2009-12-04 21:03:32 +00:00
c7b86cec97
Renamed ConditionalGaussian -> GaussianConditional
2009-11-12 16:41:18 +00:00
77a1754b69
Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph
2009-11-12 16:16:32 +00:00
Frank Dellaert
John Rogers
Alex Cunningham
Richard Roberts
Chris Beall
Kai Ni