dellaert
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59af1c4b6d
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Major refactor that does not ask for derivatives when argument is constant. Also split combine into double add, added print, and moved those two statics to ExpressionNode.
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2014-10-02 23:28:19 +02:00 |
|
dellaert
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166396d6f6
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Added tests with constant Expression
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2014-10-02 23:26:59 +02:00 |
|
dellaert
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e7e7b3806f
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New test with constant argument
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2014-10-02 20:28:37 +02:00 |
|
dellaert
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d5709facf6
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Added Pose2SLAMExample
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2014-10-02 20:20:00 +02:00 |
|
dellaert
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8f856ceaf8
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Renamed
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2014-10-02 20:19:49 +02:00 |
|
dellaert
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df17758469
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Assume H pre-allocated as usual, and *move* Jacobians to avoid allocations
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2014-10-02 13:30:16 +02:00 |
|
dellaert
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0800b83285
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Slight efficiencies
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2014-10-02 11:44:16 +02:00 |
|
dellaert
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bef23a2008
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ExpressionExample now only uses BADFactors and yields same result as SFMExample
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2014-10-02 11:21:24 +02:00 |
|
dellaert
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ebb091d390
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BadFactor is now a functioning NoiseModelFactor
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2014-10-02 11:01:39 +02:00 |
|
dellaert
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8a196eb86e
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A zero noiseModel_ never worked for NoiseModelFactor, regularizing this by explicit check
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2014-10-02 11:01:14 +02:00 |
|
dellaert
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1dddb4046a
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Comment only
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2014-10-02 09:44:29 +02:00 |
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dellaert
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3f5aa0f23e
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Expression version of SFMExample (in progress)
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2014-10-01 14:10:54 +02:00 |
|
dellaert
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2d76f200ce
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Fixed compile error
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2014-10-01 14:10:27 +02:00 |
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dellaert
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c01c756d69
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Created implementation file for NonlinearFactor and moved non-templated code there
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2014-10-01 13:14:55 +02:00 |
|
dellaert
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ce53346a9e
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Added Symbol versions
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2014-10-01 13:12:07 +02:00 |
|
dellaert
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0d94eeb480
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Created expressions.h header
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2014-10-01 11:25:49 +02:00 |
|
dellaert
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254f8c5f75
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Possible naming convention
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2014-10-01 11:01:38 +02:00 |
|
dellaert
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a6c1ba19cc
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Concise version
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2014-10-01 10:53:35 +02:00 |
|
dellaert
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d45250a989
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Fixed dim
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2014-10-01 10:45:57 +02:00 |
|
dellaert
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d935172ac5
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Tightened
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2014-10-01 10:43:03 +02:00 |
|
dellaert
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8f6eae922a
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Tightened/cleaned up
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2014-10-01 10:36:24 +02:00 |
Paul Furgale
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837b2a6bc0
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Fixed the member function with very ugly syntax
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2014-09-30 23:13:07 +02:00 |
|
dellaert
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c68c2d2dac
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Prototype code for passing methods. Does not work (uncomment line 61)
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2014-09-30 13:19:44 +02:00 |
|
dellaert
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ae17f8a82f
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Some refactoring, new static method "combine"
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2014-09-30 13:00:37 +02:00 |
|
dellaert
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374140abb8
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Moved all BAD stuff to nonlinear
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2014-09-30 12:34:03 +02:00 |
|
dellaert
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1aa7b570f9
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Added BADFactor header and created new test
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2014-09-30 12:30:15 +02:00 |
|
dellaert
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ef52e12f87
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Split off BADFactor code from Expression
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2014-09-30 12:29:57 +02:00 |
|
dellaert
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5a1ea6071b
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Split off ExpressionNode hierarchy
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2014-09-30 12:20:02 +02:00 |
|
dellaert
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e2f6f01941
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Some cleanup of headers/old code
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2014-09-30 12:12:17 +02:00 |
|
dellaert
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e789de2353
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Check derivatives of compose
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2014-09-29 12:14:59 +02:00 |
|
dellaert
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cffd226cdf
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Merge branch 'feature/BADoperator' into feature/BAD
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2014-09-29 12:07:37 +02:00 |
|
dellaert
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05c49601ed
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Added Expression header
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2014-09-29 12:06:04 +02:00 |
|
dellaert
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2d29076187
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Added Lie check
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2014-09-29 12:05:46 +02:00 |
|
Paul Furgale
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de3e1c3ed1
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Fixed the product compilation
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2014-09-29 07:22:25 +02:00 |
|
dellaert
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10a35f3535
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Structure for compose. Does not compile (uncomment line 492)
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2014-09-28 17:50:36 +02:00 |
|
dellaert
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7be6ac0e8c
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Now compiles but product construction fails because optional derivatives can't be delivered by the operator*()
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2014-09-28 10:22:19 +02:00 |
|
dellaert
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11187a4c0d
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I added operator logic but can't get it to compile
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2014-09-27 18:22:37 +02:00 |
|
dellaert
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ab1f4c1e32
|
keys now functional
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2014-09-27 16:08:59 +02:00 |
|
dellaert
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186afcc95e
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Made constructors private
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2014-09-27 15:58:34 +02:00 |
|
dellaert
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e487979b0f
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Removed obsolete typedefs
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2014-09-27 15:49:25 +02:00 |
|
dellaert
|
cde9a41acc
|
Formatting only
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2014-09-27 15:48:07 +02:00 |
|
Paul Furgale
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768c7f00e1
|
Removed the clone method
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2014-09-27 15:01:02 +02:00 |
|
dellaert
|
9eed7e10fe
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Added testBAD.run target, fixed an issue with getKeys
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2014-09-27 14:08:31 +02:00 |
|
Paul Furgale
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e12f2beca5
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Merge branch 'feature/BAD' of https://bitbucket.org/gtborg/gtsam into feature/BAD
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2014-09-27 11:39:58 +02:00 |
|
Paul Furgale
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1a00d7e3d9
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Second draft of the BAD implementation
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2014-09-27 11:39:46 +02:00 |
|
dellaert
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d02b5c4890
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Cherry-picked: Added list_of.hpp dependence and fixed header order in doing so...
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2014-09-23 11:42:53 +02:00 |
|
dellaert
|
b47837462e
|
Unit test succeeds !!!
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2014-09-21 18:54:01 +02:00 |
|
dellaert
|
4bc82da85c
|
Compile with optional derivatives
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2014-09-21 18:36:19 +02:00 |
|
dellaert
|
8e3a0f4847
|
Prototype [jacobians] code
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2014-09-21 18:22:28 +02:00 |
|
dellaert
|
583c81ffea
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Implemented uncalibrate, value test succeeds
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2014-09-21 17:59:34 +02:00 |