fbe9aac41c
squash local changes on top of gtsam upstream pull from 6/14/2016
2016-06-18 23:13:59 -07:00
72fe66d468
Removed headers
2016-05-22 14:22:36 -07:00
a0661b3813
Almost done. Still need to figure out how to remove the remaining 3 occurrences.
2016-05-21 12:44:46 -04:00
b6728ef620
Deprecated Vector ones(size_t n). All unit tests pass.
2016-04-15 17:30:54 -04:00
76308a5d46
Deprecated Vector zero(size_t n). All unit tests pass.
2016-04-15 16:54:46 -04:00
379ad8b3d2
Fixed incorrect replacement of Vector.h's ones(n) with Matrix::Ones(m,n).
2016-04-11 15:25:08 -04:00
70b2aab352
Deprecated all inline functions in Matrix.h.
2016-04-11 15:11:29 -04:00
026a0f59fe
Deprecated repeat() in Vector.h.
2016-03-11 23:10:18 -05:00
caa45ad67b
Replaced cwiseProduct() with array().square(). Killed deprecated comments.
2016-03-05 21:08:24 -05:00
22c3af906e
Deprecated emul() in Vector.h.
2016-03-05 18:49:34 -05:00
0372a959ee
Many small improvements, bug-fixes, and tests
2016-02-24 11:01:19 -08:00
b9c63ef5df
Fix and optimize DCS
2015-08-20 16:03:56 -04:00
44ae7bfe01
Fix generalized Geman-McClure
2015-08-20 16:03:56 -04:00
47d787b478
Add DCS & Geman-McClure unit tests
2015-08-18 22:46:36 -04:00
3fae6178e8
Merge remote-tracking branch 'origin/develop' into feature/sam_sfm_directories
2015-07-11 16:56:55 -07:00
5b4daf7527
Added tests for R/covariance/information
2015-07-11 14:14:04 -07:00
85e2e3bd2a
Added link
2015-07-11 13:23:05 -07:00
d415cffd4b
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
2015-06-23 22:41:33 -07:00
b0f04503c9
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
...
# Conflicts:
# gtsam/linear/tests/testRegularHessianFactor.cpp
# gtsam/slam/SmartFactorBase.h
2015-06-23 10:03:42 -04:00
c33bb7a89a
Solved Scatter bug
2015-06-21 23:34:11 -07:00
0d2558cbb5
Removed print
2015-06-21 23:33:59 -07:00
41d4c48938
Checked scatter
2015-06-21 22:48:36 -07:00
a3ed636fce
Use symbols
2015-06-21 21:09:31 -07:00
f8205bfe02
Merge branch 'develop' into feature/SmartFactors3
...
Conflicts:
gtsam/geometry/CalibratedCamera.h
gtsam/geometry/tests/testCalibratedCamera.cpp
gtsam/geometry/triangulation.h
gtsam/nonlinear/ExpressionFactor.h
gtsam/slam/SmartProjectionFactor.h
gtsam_unstable/slam/SmartStereoProjectionFactor.h
tests/testExpressionFactor.cpp
2015-06-19 16:55:30 -04:00
f523db2d98
IMPORTANT CHANGE/BUGFIX: QR elimination now (I think properly) leaves a row of zeros if the RHS after QR contains a non-zero. A corresponding change in the error calculation makes that Jacobian and Hessian factors now agree on error. I think this was a bug, because it affected the error, but (I think) it only pertained to "empty" JacobianFactors which have no bearing on optimization/elimination.
2015-06-15 00:55:53 -07:00
83171b6096
New example
2015-06-14 23:07:28 -07:00
5771664622
Starting to diagnose issue with lower-left entry of Hessian
2015-06-14 16:01:54 -07:00
f6575323d6
Sidestep Scatter altogether and just use HessianFactor keys_. In theory, n^3 lookup cost, but in practice (as keys is contiguous memory) just as fast as map.
2015-06-13 12:06:13 -07:00
257060e8dd
Scatter class in separate compilation unit
2015-06-11 21:21:01 -07:00
13a4da21b2
misc bugfixes and cleanup from skydio
2015-05-13 22:26:24 -07:00
7bc0a9df5b
Moved regular factors (except implicit) to linear (they are not SLAM-specific)
2015-02-22 15:32:12 +01:00
12020ee7a3
duplicate symbol errors on Windows
2015-02-07 23:31:53 -05:00
e13243b140
Merge branch 'develop' into feature/RegularFactors
...
Conflicts:
gtsam/linear/GaussianFactorGraph.cpp
gtsam/linear/JacobianFactor.cpp
gtsam/linear/JacobianFactor.h
tests/testPreconditioner.cpp
2015-01-01 17:50:27 -05:00
da318184ae
sync with develop branch commit c1f048d
2014-12-12 18:46:54 -05:00
e539738fd0
Remove support for dual keys. Added finished() after all matrices and vectors. Remove buildDualGraph from GaussianFactorGraph. Remove support for multipliedHessians for non-linear equality constraints.
2014-12-12 17:23:31 -05:00
e12add2739
Merged in develop (pull request #71 ). Resolve conflicts.
2014-12-12 15:34:53 -05:00
0a1e844ae5
Clean up
2014-12-08 00:44:36 -05:00
f9ca07e610
Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax
2014-11-23 10:22:25 -08:00
aa093a35da
Updated all comma initializer usages to use .finished()
2014-11-22 16:35:27 -08:00
a9e3545a29
Merge remote-tracking branch 'origin/release/3.2.0' into feature/quadratic_programming
...
This should make merging in develop easier, and it also helps me understand what changed.
I mostly avoided conflicts by keeping Duy's versions of:
Conflicts:
gtsam/3rdparty/metis-5.1.0/CMakeLists.txt
gtsam/linear/JacobianFactor-inl.h
gtsam/linear/NoiseModel.cpp
gtsam/nonlinear/NonlinearFactor.h
and a number of other files. In particular, I did not upgrade Eigen or remove metis.
The following unit tests fail in this branch:
The following tests FAILED:
2 - testWrap (Failed)
85 - testGeneralSFMFactor (SEGFAULT)
142 - testIMUSystem (Failed)
178 - testTSAMFactors (Failed)
2014-11-22 15:18:09 +01:00
ee52ca15dd
move LPSolver and QPSolver to unstable. Add script to compile lpsolve on Mac when doing cmake if it's not found.
2014-11-21 16:04:12 -05:00
102974588a
Comment out the test for raw memory access
2014-11-12 04:19:44 -05:00
efc2dc69fe
Got rid of some concats
2014-11-04 15:44:41 +01:00
113b9d2e74
Got rid of unnecessary LieVector usage that broke fixed-code
2014-10-22 01:32:59 +02:00
1eb5e185e5
New numericalDerivatives with traits an Charts - still some segfaults, *and* there should be no need for (a) multiple prototypes to match against c++ pointers, (b) the use of explicit template arguments. A task for someone...
2014-10-21 18:50:52 +02:00
d02b5c4890
Cherry-picked: Added list_of.hpp dependence and fixed header order in doing so...
2014-09-23 11:42:53 +02:00
20b9c31465
The range adaptor scheme did not work for std::map TERMS in creating a JacobianFacor. Hence, I removed it - which I think is more readable - and replaced it with an explicit creationg of dimensions. I also added a test with std::map, which works.
2014-09-21 13:58:45 +02:00
d34ba9c8bf
The range adaptor scheme did not work for std::map TERMS in creating a JacobianFacor. Hence, I removed it - which I think is more readable - and replaced it with an explicit creationg of dimensions. I also added a test with std::map, which works.
2014-09-21 13:40:38 +02:00
81645cb1f4
Added list_of.hpp dependence and fixed header order in doing so...
2014-09-21 13:38:12 +02:00
5e8c36b3ca
compute gradient wrt a key
2014-09-13 01:31:49 -04:00
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