Luca
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f15f7f3893
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Jacobian factors' gradientAtZero with raw memory access does nothing (to be fixed)
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2014-04-24 12:02:11 -04:00 |
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Luca
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37b750411f
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added gradientAtZero with raw memory access
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2014-04-22 18:38:12 -04:00 |
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Luca
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6edd3f10fc
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added raw memory access version of hessianDiagonal
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2014-03-19 17:43:20 -04:00 |
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Luca
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d2b6b12bba
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added raw memory access of hessianDiagonal
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2014-03-17 19:28:49 -04:00 |
hchiu
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de27502738
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Move Eigen magic inside function itself as Frank suggested.
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2014-03-04 10:25:54 -05:00 |
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hchiu
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b464b808ef
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First cut on raw MultiplyHessianAdd for HessianFactor and JacobianFactor. Unit test is passed in testGaussianFactorGraphUnordered (multiplyHessianAdd3). Note the interface currently needs the accumulated diminsions of key variables. See GaussianFactorGraph::multiplyHessianAdd(double alpha,const double* x, double* y).
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2014-03-04 01:58:34 -05:00 |
dellaert
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744d9f7c1c
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Cherry-picked Richard commit: Removed use of boost::range 'join' - replaced with a special flag to add one dimension in VerticalBlockMatrix and SymmetricBlockMatrix
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2014-03-02 00:07:12 -05:00 |
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dellaert
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f8024bd6dd
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Conversion from Hessian can have NULL node model
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2014-02-16 12:15:52 -05:00 |
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dellaert
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19a06ca68f
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Added unit tests for NULL noise model and fixed bug in hessianDiagonalXX for that case
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2014-02-16 00:21:15 -05:00 |
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Luca
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71e4015304
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bug fix: before hessianDiagonal seg-faulted with no noise model
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2014-02-15 16:44:20 -05:00 |
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dellaert
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a2829fffad
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Working and tested implementation of hessianBlockDiagonal
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2014-02-14 13:31:40 -05:00 |
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dellaert
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83918be8cd
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Put in empty bodies for hessianBlockDiagonal
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2014-02-14 13:18:59 -05:00 |
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dellaert
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4ce7d47bce
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Fixed bug for non-unit noise models
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2014-02-14 01:38:31 -05:00 |
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dellaert
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76959d4d18
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Added hessianDiagonal; works for Gaussian factor graphs with JacobianFactors
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2014-02-14 01:14:32 -05:00 |
Alex Cunningham
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96a4d80da4
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Fixed some warnings
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2014-01-04 20:35:19 -05:00 |
Richard Roberts
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2553e39746
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Using an "Empty" constant in VariableSlots instead of calling numeric_limits::max() each time
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2013-12-22 14:26:47 -05:00 |
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Richard Roberts
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09309e2869
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Fixed debug and error message in JacobianFactor _countDims
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2013-12-22 14:26:47 -05:00 |
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Richard Roberts
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411e934385
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Fixed a bug in checking for empty-matrix Jacobians that still have keys (kind of a hack)
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2013-11-05 16:06:14 +00:00 |
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Richard Roberts
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2dc40087d0
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Fixed problem in ISAM2 marginalizeLeaves (with Luca, port from other repo)
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2013-11-05 16:06:06 +00:00 |
Frank Dellaert
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6c1f851d51
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small change as alpha=1
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2013-10-29 14:09:58 +00:00 |
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Frank Dellaert
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daf5938577
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const correctness
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2013-10-29 04:58:51 +00:00 |
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Frank Dellaert
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4591835223
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gradientAtZero is now implemented in the fcators (Richard says, need to work on efficiency)
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2013-10-29 03:42:33 +00:00 |
Pablo Fernandez Alcantarilla
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621483bc9b
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multiplyHessian in JacobianFactor works
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2013-10-24 16:40:25 +00:00 |
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Pablo Fernandez Alcantarilla
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6a383799d7
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Skeleton code for GaussianFactorGraph::multiplyHessian
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2013-10-24 15:52:32 +00:00 |
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Richard Roberts
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95ac34aeeb
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Updating Hessian in-place instead of computing Hessian for each Jacobian
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2013-10-03 16:50:16 +00:00 |
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Richard Roberts
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bd89c5fd45
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Using FastVector (with tbb allocator) instead of vector
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2013-08-15 17:21:20 +00:00 |
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Richard Roberts
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3528173781
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Fixed compile problem on linux using boost::join with boost::cref_list_of
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2013-08-08 16:29:55 +00:00 |
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Richard Roberts
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2388f5df45
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Revert "Fixing issues with boost::assign"
This reverts commit d820732adc34a6622aae5d2bc0eb4a88e133beaf.
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2013-08-08 16:29:48 +00:00 |
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Richard Roberts
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6556fb5b1e
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Fixed a couple errors and warnings
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2013-08-07 21:57:25 +00:00 |
Alex Cunningham
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2b1a533477
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Fixing issues with boost::assign
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2013-08-07 13:29:35 +00:00 |
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Richard Roberts
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7aa1c61dcd
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Fixed problem is JacobianFactor combine with zero-row factors
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2013-08-06 23:55:38 +00:00 |
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Richard Roberts
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375f7c16e6
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Working on fixing ISAM
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2013-08-06 19:56:48 +00:00 |
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Richard Roberts
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8ae920d85a
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Fixed matrix/noise model sizes in JacobianFactor::splitConditional after constrained QR
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2013-08-06 17:36:03 +00:00 |
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Richard Roberts
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e39d100b6a
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Made most global unit tests compile, includes dogleg, iterative, kalman filter, etc
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2013-08-06 13:44:22 +00:00 |
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Richard Roberts
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0e80fe6418
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Moved ordering tests, fixed serialization and constructors, to make all inference, symbolic, and linear tests pass
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2013-08-05 22:31:09 +00:00 |
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Richard Roberts
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1f6ca330ee
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Cleanups
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2013-08-02 22:09:30 +00:00 |
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Richard Roberts
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0d05bf5ac5
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Started on HessianFactor, converted Nonlinear stuff and disabled a lot of more advanced classes so the library compiles with nonlinear using unordered.
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2013-08-01 21:57:43 +00:00 |
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Richard Roberts
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3ade190128
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Renamed old classes to "Ordered" and removed "Unordered" name from new classes
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2013-07-29 23:55:40 +00:00 |
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Richard Roberts
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941cd93bf6
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Returning empty noise model from QR and fix for backwards-compatibility in old code
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2013-07-12 22:27:44 +00:00 |
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Frank Dellaert
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75751cc5fa
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Comments
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2013-06-24 15:33:39 +00:00 |
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Richard Roberts
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547323cc79
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Fixed a bunch of compiler warnings
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2013-04-05 21:34:04 +00:00 |
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Richard Roberts
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1755136b1b
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Added JacobianFactor constructor from a GFG that merges the factors
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2012-11-26 19:21:05 +00:00 |
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Richard Roberts
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eb21cf0911
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Cleaned up information/augmentedInformation for GaussianFactor and GaussianConditional
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2012-10-08 22:40:37 +00:00 |
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Richard Roberts
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89b50e7679
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Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
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2012-10-02 20:18:41 +00:00 |
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Richard Roberts
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4876cc7ff7
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Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list)
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2012-10-02 18:36:39 +00:00 |
Chris Beall
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4297d24c96
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changed tabs to spaces for consistent indentation in all of GTSAM
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2012-10-02 14:40:07 +00:00 |
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Frank Dellaert
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aeb43bc8fc
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Used technique described in http://gcc.gnu.org/onlinedocs/gcc/Diagnostic-Pragmas.html to turn off excessive warnings generated by boost lambda headers
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2012-09-16 18:07:50 +00:00 |
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Richard Roberts
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6d1b86c2e0
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Moved JacobianFactor type check/conversion functions into SubgraphSolver instead of GaussianFactorGraph and JacobianFactor
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2012-09-06 14:33:44 +00:00 |
Yong-Dian Jian
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4443752a18
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clean the gfg to jfg conversion code
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2012-09-05 17:04:48 +00:00 |
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Richard Roberts
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3e93c488e5
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Removed extra code that was sometimes maintaining a staircase pattern in JacobianFactor by sorting rows - a holdover from the staircase optimization that is no longer done now that we are using Eigen's QR
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2012-08-27 22:29:56 +00:00 |