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5164 Commits (4868a36b6cfa4f542ac6bdbb401fe270d9b40630)

Author SHA1 Message Date
Frank Dellaert 4868a36b6c Added optional initial pose in ConstantTwistScenario 2018-10-16 16:14:24 -04:00
Frank Dellaert 35d4bb1a76 After discussion with Andrei, a final version of logic, and new tests to check more cases. Tested with both typedef and old Point3 configs. 2018-10-13 12:18:25 -04:00
Andrei Costinescu 88c4bd0a33 Second attempt at a logical refactor of Unit3::basis method 2018-10-13 06:56:04 -04:00
Frank Dellaert 658ec8c17b Merge develop into fix/Unit3 
# Conflicts:
#	gtsam_unstable/slam/SmartRangeFactor.h
 2018-10-12 23:40:20 -04:00
Frank Dellaert 540be68b80 Refactored code paths to cover all 8 cases of H, B_, H_B_ with minimal calculation. Previous version was a bit hard to parse. Assign directly to B (formerly stacked) and jacobian (formerly derivative). 2018-10-12 23:30:47 -04:00
Andrei Costinescu 6ec0ca7982 Fixed maybe-uninitialized warnings in Unit3::basis function 2018-10-12 10:32:41 +00:00
Cyril Roussillon b84f7ed22d (#378) Allow zero dimension factors, as it was in gtsam 3.x 2018-10-10 09:02:54 +02:00
Frank Dellaert 1cf5a2a80b Fixed lint errors 2018-10-09 10:25:47 -04:00
Frank Dellaert 767c5d41ee Showed compiler that B_ is always initialized 2018-10-09 09:11:50 -04:00
Frank Dellaert 285e2da5a8 Fixed lint errors 2018-10-09 00:04:36 -04:00
Frank Dellaert dbf14ca1d8 Merge remote-tracking branch 'origin/develop' into fix/isam2 2018-10-08 23:58:51 -04:00
Frank Dellaert 1bc479fc3c Fixed some lint errors 2018-10-08 22:54:36 -04:00
Frank Dellaert f60e3332a4 Made explicit float to avoid ambiguous overload. 2018-10-08 21:51:42 -04:00
Frank Dellaert ca80678ffc Fixed more warnings 2018-10-08 21:38:50 -04:00
Frank Dellaert 366b2485c1 Fixed warnings flagged by Ubuntu g++ 2018-10-08 21:00:22 -04:00
Frank Dellaert 3116fd30b9 Fixed lint errors 2018-10-02 21:53:49 -04:00
Frank Dellaert 3e0ee2052d Small cleanup of copy/paste call 2018-09-30 15:26:36 -04:00
Frank Dellaert c50b3cd6be Eliminated some copypasta with lambda 2018-09-30 15:13:47 -04:00
Frank Dellaert 2fe2f1ad19 input/output convention 2018-09-30 14:22:20 -04:00
Frank Dellaert d6edc217ab Changed several Impl functions to methods in ISAM2 and ISAM2Clique 2018-09-30 14:11:00 -04:00
Frank Dellaert 63b7d64fea Fixed headers 2018-09-30 14:09:52 -04:00
Frank Dellaert d401edc917 Split ISAM2 Clique, Params, and Result out in different files, cleaned up headers, and removed ISAM2-inl.h header 2018-09-30 12:58:48 -04:00
Frank Dellaert 7fd8bc1bf5 Restored non-recursive version, disabled solution pointers back-substitute. 2018-09-30 11:19:25 -04:00
Frank Dellaert ba64402985 Added fastBackSubstitute method 2018-09-30 10:47:32 -04:00
Frank Dellaert 5223713c18 Use VectorValues::vector rather than bespoke code for saving delta values. 2018-09-30 10:30:27 -04:00
Frank Dellaert 34326c20ec Cleaned up code cruft 2018-09-30 10:29:12 -04:00
Frank Dellaert e770490ae7 Made vector templated on Key container. 2018-09-30 10:28:45 -04:00
Frank Dellaert a31294d777 Modernized, cleaned up, and turned off non-recursive version (fow now) because it has a bug. 2018-09-29 17:52:20 -04:00
Frank Dellaert e6c0d7334f Cleaned up cpplint errors - no functionality change 2018-09-29 00:06:19 -04:00
Frank Dellaert a87ce9bac4 Fixed consistency checks 2018-09-28 11:20:55 -04:00
Frank Dellaert ce65b5d043 virtual destructors 2018-09-28 11:20:38 -04:00
Frank Dellaert 4a8c2f666c Fixed warning 2018-09-28 11:20:26 -04:00
Sean Bowman 90f688d94c Merged in seanbow/gtsam_fork/fix_memory_alignment (pull request #313) after successfully compiling on Mac. 
Fix memory alignment issues
 2018-09-27 13:58:43 +00:00
Mike Sheffler 9aad5084e0 Merged in mikesheffler/gtsam (pull request #314) 
Fixes failure of 92/221 Test  #92: testAdaptAutoDiff on AArch64 (ARM64)
 2018-09-22 15:56:49 +00:00
Sean Bowman c1b14f08f8 Fix more memory alignment issues 2018-09-18 17:29:02 -04:00
Enrique Fernández Perdomo 19707b88a1 Merged in enriquefernandezperdomo/gtsam/fix_recalculate_batch_step_when_variables_removed_onto_develop_04_aug_2016 (pull request #272) 
Fix recalculate batch step when variables removed
 2018-09-17 15:04:47 +00:00
Mike Sheffler 3b8985fb6e Test of AutoDiff wrapper in an expression modified so that the upAligned size of the relevant binary expression is tested against the size of the expression in the AutoDiff wrapper. When the traceSize() of the expression containing the AutoDiff wrapper is computed, that value (the traceSize) will be computed such that an alignment (currently 16-bit) will be forced. It is thus necessary for the test to also upAlign the relevant binary expression. On x86_64 architectures, this test was accidentally passing because the relevant struct was already aligned on a 16-bit boundary. On AArch64 ('ARM64'), the alignment was *not* on a 16-bit boundary, and this test failed. Modifying the first argument to EXPECT_LONGS_EQUAL in this test to include upAlignment of the relevant binary expression makes the test pass in 'debug' and 'release' builds on both x86_64 and AArch64 architectures 2018-09-11 00:22:20 -07:00
Sean Bowman b04c0bb15d Fix memory alignment issues 2018-07-13 14:31:02 -04:00
Frank Dellaert 250a039435 Merged in fix/iSAM-334 (pull request #310) 
Fix/iSAM-334
 2018-05-22 16:34:59 +00:00
Frank Dellaert cd66e8e61a Merged in skydio_fixes (pull request #309) 
BackprojectFromCamera and some small fixes

Approved-by: Ryan Kennedy <ryan@skydio.com>
 2018-05-21 21:01:34 +00:00
dellaert ebf047b4aa Added return types 2018-05-14 00:39:36 -07:00
dellaert dec2374684 Merge branch 'develop' into fix/iSAM-334 2018-05-13 23:05:04 -07:00
Frank Dellaert ae86bf0271 BackprojectFromCamera and some small fixes from Skydio 2018-05-11 15:13:14 -07:00
Dominic Pattison 530f6e99fd Fix quaternion component error in Rot3 constructor 2018-04-01 15:32:27 +00:00
Duy-Nguyen Ta cc25ece055 Merged in thduynguyen/gtsam-duy/feature/wrap_cal3ds2 (pull request #306) 
Feature/wrap cal3ds2
 2018-02-20 19:56:26 +00:00
Simon Julier 108da4957a Set the INSTALL_NAME on the shared libraries. 2018-02-16 10:53:58 +00:00
Duy-Nguyen Ta d9937ea07f small doc improvement 2018-01-23 10:15:19 -05:00
Mustafa Mukadam 0c14c11c85 fix optional jacobian check 2018-01-19 16:45:28 -05:00
Duy-Nguyen Ta 211724a841 Merged in feature/cython_wrapper (pull request #284) 
Cython wrapper
 2017-12-03 08:06:43 +00:00
Frank Dellaert e8e2e52c94 Fixed test 2017-12-02 18:55:44 -08:00