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15 Commits (532be063f9ec68d8b6ac9e5c8ca64724034abd64)

Author SHA1 Message Date
Frank Dellaert cc5a2c3183 Renamed double-templated functions to _eliminate and _eliminateOne, and created FactorGraph-specific eliminateOne methods to make life easier 2009-11-07 21:03:30 +00:00
Frank Dellaert df3e5f2416 BIG: eliminate and eliminateOne now doubly templated functions, not methods. 
Minor: Standardized on new shared_ptr naming convention:
shared_factor -> sharedFactor
conditional_ptr -> sharedConditional
node_ptr -> sharedClique
 2009-11-07 19:31:39 +00:00
Richard Roberts e2414561be Merged r895:900 from branch weightedQR - LinearFactorGraph now has sigmas and ConditionalGaussian now has precisions 2009-11-04 20:59:16 +00:00
Frank Dellaert a8d267c4ca Small change necessitating lots of edits: Conditionals now include key of random variable 
This simplifies Bayes nets quite a bit. Also created a Conditional base class, derived classes ConditionalGaussian and SymbolicConditional
Finally, some changes were needed because I moved some headers to .cpp
 2009-11-02 03:50:30 +00:00
Frank Dellaert 943b692a6b BIG CHANGE: I got rid of the BayesChain/ChordalBayesNet classes and we now simply have a BayesNet class. It will just happen to be chordal when it is the result of an elimination. This will simplify a lot of things. 
The main renaming that happened is

BayesChain -> BayesNet
ChordalBayesNet -> GaussianBayesNet == BayesNet<ConditionalGaussian>
SymbolicBayesChain -> SymbolicBayesNet == BayesNet<SymbolicConditional>
 2009-10-31 19:53:20 +00:00
Frank Dellaert 0d7d0e2161 Explicit template instantiation in .cpp files, so we can link with the code without having to include -inl.h everywhere... 2009-10-30 05:45:22 +00:00
Frank Dellaert 83e5286710 ChordalBayesNet is now derived from BayesChain 
Explicit template instantiations
 2009-10-30 04:54:11 +00:00
Frank Dellaert 80b162a412 LinearFactorGraph::eliminate_one is now FactorGraph::eliminateOne<ConditionalGaussian> 
Symbolic version FactorGraph::eliminateOne<SymbolicConditional> also implemented and tested
 2009-10-29 14:34:34 +00:00
Frank Dellaert b6cee73571 Significant change: Made FactorGraph templated on Factor only, and moved error and probPrime to derived classes 
Moved find_and_remove_factors to base class
Added and tested symbolic factor graph constructor and conversion from any factor graph type
 2009-10-29 04:11:23 +00:00
Frank Dellaert cd3e3d8a86 Fairly substantial change: Factor now Testable, MutableLinearFactor gone 
The latter was prompted by the fact that assert_equal did not like mixing LinearFactor and MutableLinearFactor
But MutableLinearFactor always was a bit of a kluge. We should eradicate all non-const on LinearFactor some other way.
 2009-10-22 17:23:24 +00:00
Frank Dellaert 0d66ee8f72 comments only 2009-10-15 14:56:40 +00:00
Alex Cunningham 7d0a30c20f Renamed FGConfig to VectorConfig in gtsam, easylib, EasySLAM, and mast. 2009-10-14 20:39:59 +00:00
Alex Cunningham 8f20523e7f ConstrainedLinearFactorGraphs now handles multiple constraints on a node properly. 
smallExample was changed to include two of the examples used in testConstrainedLinearFactorGraph
ConditionalGaussian was changed to make solve() virtual, as this is necessary for ConstrainedConditionalGaussian
 2009-10-14 15:32:05 +00:00
Alex Cunningham 66dac8a52f Generalized constraint handling to create a LinearConstraint which implements linear equality constraints that can be eliminated as a part of a ConstrainedLinearFactorGraph. DeltaFunction has been changed to be a ConstrainedConditionalGaussian, which has a more robust solve() function. The new tests no longer use the "constrained" example from smallExample, so those functions have been commented. 
''Limitations: ''
 * Any given node can only have one constraint on it, but constraints can be of arbitrary size
 * Constraints can only be specified as a blockwise system, where each block must be square and invertible to support arbitrary elimination orderings.  
  * ConstrainedNonlinearFactorGraph is disabled until a better solution for handling constraints in the nonlinear case is determined.
 2009-10-08 13:57:22 +00:00
Richard Roberts d80fa24a9f Fixing directory structure 2009-08-21 22:23:24 +00:00