Commit Graph

8 Commits (3247751b5db8193b5fbd924b66b1e48325db7e7c)

Author SHA1 Message Date
Frank Dellaert 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
Frank Dellaert a4a6e002e5 NOISE MODEL.
This is a big edit but with no templates involed, so it should not be a big deal.

New namespace gtsam::noiseModel collects all noise models, which provide efficient whitening and chain-rule implementation needed for optimization. The class hierarchy gives us the ability to use models from full covariances to i.i.d. unit variance noise with a single interface, where the latter will be much cheaper. 

From now on, all non-linear factors take a shared_ptr to a Gaussian noise model. This is done through the parameter (const sharedGaussian& model). The use of a shared pointer allows us to share one noise models for thousands of factors, if applicable.

Just like Richard's Symbol change, there is a compile flag GTSAM_MAGIC_GAUSSIAN which allows you to use doubles, vectors, or matrices to created noise models on the fly. You have to set it to the correct dimension. Use of this is *not* encouraged and the flag will disappear after some good soul fixed all unit tests.
2010-01-18 05:38:53 +00:00
Richard Roberts 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
Frank Dellaert ea14959835 NoiseModel inhertance structure reversed, all constructors protected, new static "factories" 2010-01-17 17:47:23 +00:00
Frank Dellaert a3fa194ca1 Noisemodel works in PriorFactor 2010-01-17 03:56:42 +00:00
Frank Dellaert 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
Frank Dellaert 3c9c8bcfe5 Pose2Prior is now a typedef, improved some derivatives 2010-01-16 16:46:57 +00:00
Frank Dellaert 4914091c87 Pose2Prior test 2010-01-16 15:39:39 +00:00