dellaert
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55cc4ba56c
|
Switched names of fold result and meta-function that is folded over
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2014-10-12 23:31:58 +02:00 |
|
dellaert
|
ef21a4ba4a
|
Major re-org in preparation of recursive Functional nodes
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2014-10-12 23:03:33 +02:00 |
|
dellaert
|
408be628d2
|
Small change in meta-programming, big improvement in clarity
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2014-10-12 22:17:21 +02:00 |
|
dellaert
|
107bcd8bb4
|
Going forwards, we default to reverse :-)
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2014-10-12 22:04:40 +02:00 |
|
dellaert
|
4d1eb05c7d
|
Passing JacobianMap as an argument now..
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2014-10-12 20:16:08 +02:00 |
|
dellaert
|
dc541f1051
|
made traceSize an instance variable
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2014-10-12 18:52:12 +02:00 |
|
dellaert
|
fdf1dfffa8
|
Now in nanoseconds, and added timing of localCoordinates.
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2014-10-12 18:21:17 +02:00 |
|
dellaert
|
7a5f48f6dd
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Fixed typo in assert
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2014-10-12 12:20:12 +02:00 |
|
dellaert
|
fea2eb0b5f
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Inlined VerticalBlockMatrix construction
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2014-10-12 11:05:43 +02:00 |
|
dellaert
|
ed62271f81
|
Dealing with constrained noise model
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2014-10-12 10:52:07 +02:00 |
|
dellaert
|
86d3e559e6
|
Merge branch 'feature/BAD' into feature/BAD_linearize
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2014-10-11 23:07:40 +02:00 |
|
dellaert
|
c9f80536c0
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Added a constraint model
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2014-10-11 23:07:23 +02:00 |
|
dellaert
|
e46a8b05eb
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Some mode readable matrix types
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2014-10-11 23:06:57 +02:00 |
|
dellaert
|
3c6f7a42e6
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Merge branch 'feature/BAD' into feature/BAD_linearize: easier trace/dTdA access
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2014-10-11 22:31:43 +02:00 |
|
dellaert
|
c776e87f78
|
Refactoring for readability/sanity
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2014-10-11 21:33:07 +02:00 |
|
dellaert
|
0c7ea68f2f
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Now overwriting linearize as preparation for direct VericalBlockMatrix
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2014-10-11 17:05:53 +02:00 |
|
dellaert
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1bac83381f
|
Merge remote-tracking branch 'origin/feature/BAD_meta' into feature/BAD: Now the Record structures are recursively generated using template meta-programming, basically mpl::fold
Conflicts:
gtsam_unstable/nonlinear/Expression-inl.h
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2014-10-11 15:20:12 +02:00 |
|
dellaert
|
88f9a423c5
|
Numbered types avoid ambiguity
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2014-10-11 14:19:39 +02:00 |
|
dellaert
|
252024cc9b
|
Merge branch 'feature/BAD_raw' into feature/BAD: the entire allocation tree is now allocated all at once, in Expression::reverse, on the stack. the traceExecution method then takes a raw pointer, and the "placement new" is used to grab that existing memory, avoiding all mallocs altogether. The only mallocs that still happen - that are responsible for almost all time within reverse - are the leaves inserting general matrices into a map to pass back to linearize.
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2014-10-11 13:50:49 +02:00 |
|
dellaert
|
ecf6462a25
|
Victory!! Unit tests work!
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2014-10-11 13:07:58 +02:00 |
|
dellaert
|
599e232d1d
|
traceSize, two tests work
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2014-10-11 12:11:22 +02:00 |
|
dellaert
|
9585823d5d
|
...but works with correct size !
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2014-10-11 11:32:52 +02:00 |
|
dellaert
|
deed7b8018
|
Unary prints, but still-faults downstream
|
2014-10-11 11:30:06 +02:00 |
|
dellaert
|
05f78b6dca
|
Re-factor, allow traceExecution
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2014-10-11 11:29:42 +02:00 |
|
dellaert
|
1f692638f5
|
Accessing matrices works
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2014-10-11 11:04:39 +02:00 |
|
dellaert
|
69b69a0bc8
|
placement new works! And sophisticated Trace::print
|
2014-10-11 11:03:35 +02:00 |
|
dellaert
|
eef2d49e8d
|
First prototype, segfaults
|
2014-10-11 10:27:30 +02:00 |
|
dellaert
|
e09e24964a
|
No need to have all of T as template parameter
|
2014-10-11 09:00:03 +02:00 |
|
dellaert
|
820988b04e
|
Do casting inside Trace
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2014-10-11 08:52:24 +02:00 |
|
dellaert
|
52fc6f2db4
|
Testing old trace
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2014-10-11 08:41:39 +02:00 |
|
dellaert
|
820e9553ee
|
TestBinaryExpression friend
|
2014-10-11 08:17:46 +02:00 |
|
dellaert
|
a2d2d82e0e
|
some namespace management
|
2014-10-11 07:39:13 +02:00 |
|
dellaert
|
23485a0e71
|
New and consistent naming: ExecutionTrace = whole tree, CallRecord = local information left by the function.
|
2014-10-10 17:45:39 +02:00 |
|
dellaert
|
5cfe761f27
|
Timing multi-threaded code
|
2014-10-10 17:17:20 +02:00 |
|
dellaert
|
ae93dd9869
|
Commented out repeated arguments
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2014-10-10 13:57:37 +02:00 |
|
dellaert
|
58bbce482d
|
Ternary works, same caveat
|
2014-10-10 13:33:13 +02:00 |
|
dellaert
|
406467e341
|
Binary works, but it's ugly and does not work for repeated types
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2014-10-10 13:29:56 +02:00 |
|
dellaert
|
24714e48c5
|
Works for Unary !
|
2014-10-10 12:38:26 +02:00 |
|
dellaert
|
f8468bd596
|
Recursion done
|
2014-10-10 12:31:40 +02:00 |
|
dellaert
|
40fc6f5c03
|
Working prototype
|
2014-10-10 12:29:01 +02:00 |
|
dellaert
|
dd1b931802
|
Successfully defined Jacobian
|
2014-10-10 12:03:13 +02:00 |
|
dellaert
|
732ff54b83
|
More experiments
|
2014-10-10 11:41:01 +02:00 |
|
dellaert
|
8e264f4289
|
Attempt at defining Trace recursively
|
2014-10-09 14:38:16 +02:00 |
|
dellaert
|
5e5457b390
|
Renamed entry point to startReverseAD to emphasize it is only called once
|
2014-10-09 13:42:43 +02:00 |
|
dellaert
|
563c4d214c
|
Renamed BADFactor -> ExpressionFactor
|
2014-10-09 13:00:56 +02:00 |
|
dellaert
|
7e069191e5
|
Slight refactor
|
2014-10-09 10:58:46 +02:00 |
Lachlan Toohey
|
3c42fbacb9
|
Update tests for testPoseRotationPrior
Adds new test for wraparound handling in Rot2.
Removes tests that are not quite equal for Rot3.
|
2014-10-09 14:13:24 +11:00 |
|
dellaert
|
a38a0ae9e1
|
Some comments
|
2014-10-09 00:21:10 +02:00 |
|
dellaert
|
9ebe1e6d10
|
Super-speedup by specializing to 2-dimensional output (for now). Using some template magic.
|
2014-10-08 23:50:17 +02:00 |
|
dellaert
|
31c138d0d6
|
Profile Bin(Leaf,Un(Bin(Leaf,Leaf))) by default
|
2014-10-08 17:52:46 +02:00 |