a4a6e002e5
NOISE MODEL.
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This is a big edit but with no templates involed, so it should not be a big deal.
New namespace gtsam::noiseModel collects all noise models, which provide efficient whitening and chain-rule implementation needed for optimization. The class hierarchy gives us the ability to use models from full covariances to i.i.d. unit variance noise with a single interface, where the latter will be much cheaper.
From now on, all non-linear factors take a shared_ptr to a Gaussian noise model. This is done through the parameter (const sharedGaussian& model). The use of a shared pointer allows us to share one noise models for thousands of factors, if applicable.
Just like Richard's Symbol change, there is a compile flag GTSAM_MAGIC_GAUSSIAN which allows you to use doubles, vectors, or matrices to created noise models on the fly. You have to set it to the correct dimension. Use of this is *not* encouraged and the flag will disappear after some good soul fixed all unit tests.
2010-01-18 05:38:53 +00:00
19a3e228d7
Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes.
2010-01-08 00:40:17 +00:00
a3ce3f31c8
Cleanup with NonlinearConstraints to make the active() function do thresholding for inequality constraints, rather than constraint function itself.
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testSQP now has all tests active and passing.
Added greaterThanOrEqual() for vector comparison.
2009-11-30 17:36:34 +00:00
1799f59388
Added a function for the SQPOptimizer that will iterate until convergence. At the moment, the convergence conditions are quite simple (error below threshold or too many iterations). The system does, however, strictly limit the number of iterations.
2009-11-28 22:49:14 +00:00
1525253123
Inequality Constraints now work in a simple obstacle-avoidance demo in testSQPOptimizer. It should be noted that convergence conditions are still not implemented.
2009-11-28 21:44:07 +00:00
395e4ae3f1
Fixed sign issue on nonlinear constraints, so that that it is not necessary to flip the sign on the delta configs before using exmap.
2009-11-28 21:00:09 +00:00
107c6846fb
Added basic inequality constraint handling to NonlinearConstraint. Demo still in progress, but now constraints are explicitly handled as either equality or inequality constraints, with an active() function to determine if it is necessary to use the constraint.
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Created testOrdering for new subtract() function to remove parts of an ordering.
2009-11-28 18:35:36 +00:00
cf6474c99b
Added a graph implementation for multi-robot control systems. Currently can only really constrain the ends of a trajectory.
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Made a number of fixes and updates to the ControlConfig as well.
2009-11-27 17:59:03 +00:00
fec280db8e
Added a nonlinear constraint version of the stereo SQP example, but the test when the initial configuration is incorrect is not stable and the points continue moving away indefinitely.
2009-11-24 06:39:27 +00:00
31856ce598
SQPOptimizer can now do its own initialization of the Lagrange multipliers.
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Cleaned up NonlinearConstraint
2009-11-23 22:10:52 +00:00
a5515d9d57
SQPoptimizer can now perform optimization, and has a test using the linear map-warping example.
2009-11-23 21:25:31 +00:00
0b333630e7
Added an SQPOptimizer class with accompanying test - currently doesn't do much
2009-11-23 19:57:35 +00:00
Frank Dellaert
Richard Roberts
Alex Cunningham