2aa43e11bd
Use KeyVector everywhere to avoid conversions
2018-11-08 10:10:32 -05:00
3e0ee2052d
Small cleanup of copy/paste call
2018-09-30 15:26:36 -04:00
c50b3cd6be
Eliminated some copypasta with lambda
2018-09-30 15:13:47 -04:00
2fe2f1ad19
input/output convention
2018-09-30 14:22:20 -04:00
d6edc217ab
Changed several Impl functions to methods in ISAM2 and ISAM2Clique
2018-09-30 14:11:00 -04:00
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
7fd8bc1bf5
Restored non-recursive version, disabled solution pointers back-substitute.
2018-09-30 11:19:25 -04:00
ba64402985
Added fastBackSubstitute method
2018-09-30 10:47:32 -04:00
5223713c18
Use VectorValues::vector rather than bespoke code for saving delta values.
2018-09-30 10:30:27 -04:00
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
e6c0d7334f
Cleaned up cpplint errors - no functionality change
2018-09-29 00:06:19 -04:00
2fdb6ce48f
Remove unused indices in batch step
...
In the batch step (in recalculate) we need to remove the unused indices
from the variable index, otherwise the elimination would throw an
exception saying:
"Requested to eliminate a key that is not in the factors"
2016-08-04 09:32:08 -04:00
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
fad9462661
A better solution through typedef of FactorIndices -> FastVector<size_t>
2016-02-25 23:51:01 -08:00
64aae16b3c
Fixed problem with wrapping iSAM by a hack: made vector<size_t> into KeyVector. This is not a long-term solution: we should enable wrapping of vector<T>.
2016-02-25 22:07:04 -08:00
0372a959ee
Many small improvements, bug-fixes, and tests
2016-02-24 11:01:19 -08:00
464a82cc51
Merge remote-tracking branch 'origin/develop' into feature/betterOrdering
...
Conflicts:
.cproject
gtsam/inference/Ordering.h
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
2015-06-28 15:41:58 -07:00
128bac616c
Globally replaced FastSet<Key> with KeySet.
2015-06-20 18:38:25 -07:00
13a4da21b2
misc bugfixes and cleanup from skydio
2015-05-13 22:26:24 -07:00
1d81572894
Capitalize static methods in ordering.h
...
This commit involves the API change. Related files in gtsam have been changed. All the tests examples run without issue.
2015-02-21 13:16:03 -05:00
36a485169d
Refactor Ordering parameters. Now compiles and passes with gcc
2014-11-17 16:16:52 -05:00
cb3cec3789
Replaced static variable counter inside ISAM2 update() with a member variable to avoid a bug where if multiple instances of ISAM2 are running in the same process, the counter gets incremented in each of them, resulting in very difficult to debug failures.
2014-03-27 16:15:29 -04:00
7192bd2f79
Removed namespace-functions for ISAM2 optimize* and gradient*, these were only there to try to maintain a consistent interface for linear but really were not correct anyway since ISAM2 is a nonlinear object. They instead caused confusion and made the code complicated since they used a complicated system for updating and caching various components that go into calculating the solution. Replaced all this with much simpler code directly inside updateDelta, which uses clearly-defined functions in the ISAM2::Impl class to calculate the components that go into the solution. Also removed the redundant deltaUpToDate flags - now just checks whether deltaReplacedMask is empty.
2014-02-22 16:46:38 -05:00
fa5d08d9a6
Option to reuse old factor slots in ISAM2
2013-11-18 19:23:09 +00:00
efc5ea8dce
Small cleanup
2013-11-12 17:02:46 +00:00
ec78d54f37
Removed old Index typedef and IndexFormatter
2013-11-08 16:35:28 +00:00
2dc40087d0
Fixed problem in ISAM2 marginalizeLeaves (with Luca, port from other repo)
2013-11-05 16:06:06 +00:00
611fc14aaf
Fixed compile errors on some macs
2013-08-27 15:53:30 +00:00
0bc208e093
Ported a fix from Steve for keeping factor order consistent (I don't remember why this is needed)
2013-08-20 17:33:10 +00:00
6a89db28bb
Revert "Ported a fix from Steve for keeping factor order consistent (I don't remember why this is needed)"
...
This reverts commit 975d470b0fb7637c0f46e967301da4eda0f04b5a.
2013-08-20 17:07:40 +00:00
4fb7235310
Ported a fix from Steve for keeping factor order consistent (I don't remember why this is needed)
2013-08-20 16:53:44 +00:00
7ce91c7b27
Fixed two ISAM2 bugs
2013-08-19 22:07:31 +00:00
bd89c5fd45
Using FastVector (with tbb allocator) instead of vector
2013-08-15 17:21:20 +00:00
174c2da7d9
Switched a couple of data structures - ISAM2::Nodes and Scatter, to tbb versions for better performance
2013-08-14 22:54:00 +00:00
f9eb5b6e2c
Small data structure change in ISAM2::getAffectedFactors for a speedup
2013-08-14 19:28:45 +00:00
36b3e214b0
Fixed timing statement
2013-08-14 19:25:02 +00:00
845c5dfe43
Fixed some timing statements in ISAM2
2013-08-14 17:39:36 +00:00
46beb6c6a4
Re-added ISAM2::marginalizeLeaves optional output arguments from Steves changes in r18185
2013-08-14 15:21:10 +00:00
d6501bcf9e
another fix for boost 1.49 on Linux
2013-08-13 14:21:12 +00:00
38a895507d
fix warning about ambiguous parentheses
2013-08-13 14:17:05 +00:00
7ee1c48ce5
Fixed some compile errors with older boost
2013-08-13 03:13:14 +00:00
0b58b0166a
Fixed errors and warnings on linux
2013-08-12 21:32:51 +00:00
c2284a3d6b
Changed FastVector to vector in GFG and ISAM2
2013-08-12 18:21:23 +00:00
211542fc0e
Removed print statement
2013-08-11 00:39:44 +00:00
63e89656d2
Temporary debugging for marginalizeLeaves
2013-08-10 15:52:00 +00:00
67431ba8ad
Fix marginalizeLeaves bug
2013-08-10 15:51:52 +00:00
789f2bee97
ISAM2 compiling and fixed several issues but still some unit tests failing
2013-08-09 21:35:47 +00:00
a98180f84f
Working on converting ISAM2
2013-08-08 21:41:29 +00:00
Frank Dellaert
Frank Dellaert
Enrique Fernandez
Abe
yao
Frank
zhaoyang
cbeall3
Alex Cunningham
Richard Roberts
Vadim Indelman
Chris Beall