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7895 Commits (4f92492e34e4eb60eca3fabbc28e11226f816839)

Author SHA1 Message Date
krunalchande 4f92492e34 Reapply hacks in EliminatePreferCholesky to deal with negative definite hessians obtained from multiplying dual variables with the hessians of nonlinear constraints needed for SQP. 2015-02-18 07:47:50 -05:00
krunalchande fd461a1c15 [unfinished] prototyping inequality SQP with Luca. 2015-02-18 07:47:50 -05:00
krunalchande ecc87bdb2b Added test with pose and a line equality constraint. Works but hessian is incorrect. So basically using nonlinearequality vs linearequality makes no difference. 2015-02-18 07:47:50 -05:00
krunalchande 29e6e67de7 added debug info, fixed unit test, added nonlinear constraint (circle) test. Doesn't work because of negative definite hessian obtained from multiplying the dual with the constraint hessian. 2015-02-18 07:47:50 -05:00
krunalchande ccc243d37a Obtain dim by using traits. 2015-02-18 07:47:50 -05:00
krunalchande 147d174a66 test files deprecated, might be removed later 2015-02-18 07:47:49 -05:00
krunalchande 6d76b5910c added comments 2015-02-18 07:47:49 -05:00
krunalchande 2b1cc7bf22 Added Simple QP solver and test. Unit test doesn't work yet 2015-02-18 07:47:49 -05:00
krunalchande 3af06ef029 Added nonlinearconstraint and tests 2015-02-18 07:47:49 -05:00
krunalchande 7d2f69335d Added constructor 2015-02-18 07:47:48 -05:00
krunalchande b4c5237925 Added structure of test and class. Left with implementation. 2015-02-18 07:47:48 -05:00
Frank Dellaert f2fabc18c8 Merged in feature/refactoredUpdateATA (pull request #106) 
Re-factored updateATA
 2015-02-17 13:47:48 +01:00
dellaert 5c5447e7b3 Re-factored updateATA 2015-02-17 12:52:27 +01:00
Frank Dellaert d617462e74 Merged in feature/cleanupOrientedPlane3 (pull request #104) 
Clean up some formatting, warnings, link error (?)
 2015-02-17 01:17:50 +01:00
dellaert a375d06caa Symbol include, no gtsam:: needed 2015-02-17 00:30:45 +01:00
dellaert 60e3ff536c Symbol -> Key 2015-02-17 00:30:31 +01:00
dellaert 754b770cad BORG formatting 2015-02-17 00:22:07 +01:00
dellaert 9ab97a23b0 Got rid of header bloat 2015-02-17 00:17:22 +01:00
dellaert 1a9f2cb1b7 Got rid of header bloat 2015-02-17 00:12:35 +01:00
dellaert bcd6a09c14 Added missing print, made print conform to base class 2015-02-17 00:12:21 +01:00
dellaert 9b766e3e71 New Targets for OrientedPlane3 2015-02-17 00:12:04 +01:00
Frank Dellaert cd0f8c8c57 Merged in feature/small-things (pull request #102) 
* Print symbol interpretation of key in IndeterminantLinearSystemException.
 2015-02-16 14:09:46 +01:00
Thomas Schneider b23de64ce0 * Print symbol interpretation of key in IndeterminantLinearSystemException. 
* Add fPIC to libmetis.
* Fix warnings in PreintegratedBase.
 2015-02-16 09:59:18 +01:00
Chris Beall 659aeb1f23 Merged in fix/IntermittentUnit3Crash (pull request #101) 
Thread-safe access to Unit3::basis() when TBB is on
 2015-02-14 09:19:52 -05:00
cbeall3 80db810855 Thread-safe access to Unit3::basis() when TBB is on 2015-02-13 16:04:20 -05:00
Chris Beall 91ea8e3bd7 Merged in feature/allTestsTarget (pull request #99) 
Custom all.tests target and remove obsolete test macros
 2015-02-12 16:38:05 -05:00
Frank Dellaert acf8ec0963 Merged in feature/oriented_plane3 (pull request #98) 
3D planes and related data structs
 2015-02-12 22:30:56 +01:00
cbeall3 1c023e68ae Remove obsolete test macro file from install 2015-02-12 15:53:18 -05:00
cbeall3 f2c3826a40 print out Rot3 expmap configuration flag in summary 2015-02-12 15:43:53 -05:00
cbeall3 bda7ce9f97 Move obsolete testing macros 2015-02-12 15:43:12 -05:00
cbeall3 66de1e7069 add custom all.tests target to build all tests without running them, and remove obsolete testing macros 2015-02-12 15:42:53 -05:00
nsrinivasan7 52b0ac8af3 removed MultiDisparityFactor 2015-02-12 14:10:07 -05:00
dellaert 235cb532f4 BORG-style comments 2015-02-12 16:31:04 +01:00
nsrinivasan7 91b16766dd fixed the resizing issues. Kudos to Jenkins for catching that ! 2015-02-12 09:52:12 -05:00
nsrinivasan7 ce85eecaff fixed formatting issues 2015-02-12 08:22:25 -05:00
nsrinivasan7 e4a6a2a951 fixed OrientedPlane3Factor. 2015-02-12 07:48:20 -05:00
nsrinivasan7 493a4f7f86 changed optional matrices to Optional Jacobians 2015-02-11 16:56:26 -05:00
nsrinivasan7 a6ee1231a0 Make check works. But ISAM segfaults. 2015-02-11 16:49:56 -05:00
nsrinivasan7 d771710a68 testOrientedPlane3 works. Still have to change boost::optional to Optional Jacobian 2015-02-11 14:46:02 -05:00
nsrinivasan7 aefd213cba added unitVector() function to Unit3 2015-02-11 14:45:13 -05:00
Chris Beall fae810cb11 Merged in fix/manifoldimpl (pull request #86) 
small fix to let template specialization compile with Eigen::Dynamic
 2015-02-11 14:33:48 -05:00
Chris Beall 5e61f9f622 Merged develop into fix/manifoldimpl 2015-02-11 13:36:03 -05:00
nsrinivasan7 1b634b5472 Merge remote-tracking branch 'origin/develop' into feature/oriented_plane3 2015-02-11 13:28:51 -05:00
Frank Dellaert bed39acd4c Merged in feature/ExpressionsBALExample (pull request #91) 
New SFM Example, combines BAL/Expressions
 2015-02-11 17:37:42 +01:00
dellaert b06c353073 Merge remote-tracking branch 'origin/develop' into feature/ExpressionsBALExample 2015-02-11 16:41:09 +01:00
Frank Dellaert a42637f394 Merged in fix/Quaternions (pull request #97) 
Fixed Quaternion Logmap bug
 2015-02-11 15:43:54 +01:00
dellaert 675cdc7bcd Commented out offending Pose3 tests 2015-02-11 15:07:50 +01:00
dellaert 559da158fe Fixed sign bug 2015-02-11 15:00:50 +01:00
dellaert 9cf6bb3f0f Check quaternions 2015-02-11 15:00:32 +01:00
dellaert 9460c13cd1 Checked in math 2015-02-11 14:59:59 +01:00