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
6b2190159d
restored lost changes
2010-01-18 04:53:17 +00:00
42f4ff228b
code cleanup, recovering estimate while dealing with incremental adding of factors, planar with new SLAM
2010-01-18 04:32:45 +00:00
9ac1622514
Removed obsolete files that reappeared after svn crash
2010-01-18 03:00:00 +00:00
149e6cef36
Added an explicit instantiation to fix a link error that was only detected on Linux
2010-01-18 02:23:10 +00:00
aef0b42562
Refactoring to use a new Symbol key instead of strings in Bayes*, Gaussian*, Ordering, Symbolic*, VectorConfig. Renamed existing type-checking key Symbol<C,T> to TypedSymbol<C,T>
2010-01-17 19:34:57 +00:00
ea14959835
NoiseModel inhertance structure reversed, all constructors protected, new static "factories"
2010-01-17 17:47:23 +00:00
87f7e05c15
Identity model
2010-01-17 15:10:10 +00:00
5c6cfec7ab
restored reset
2010-01-17 15:09:28 +00:00
80b3813a16
binary files should not be in repository
2010-01-17 06:09:25 +00:00
fbe425b966
relinearizing part of a BayesTree, requiring caching of intermediate results during elimination
2010-01-17 06:06:20 +00:00
a3fa194ca1
Noisemodel works in PriorFactor
2010-01-17 03:56:42 +00:00
8967027198
Testing R and Whiten
2010-01-17 03:29:23 +00:00
9ddeb569b5
GaussianNoiseModel
2010-01-17 01:28:15 +00:00
3a83e0678d
KISS refactor of NoiseModel
2010-01-17 00:37:34 +00:00
4518069218
2010-01-17 00:35:49 +00:00
09d2cb9101
added numericalDerivative.h to headers
2010-01-16 23:10:38 +00:00
0e17310e23
remove the printf
2010-01-16 22:56:57 +00:00
2174057578
Commented out another NoiseModel unit test
2010-01-16 20:40:47 +00:00
e4eaa22378
Comment out unit test for broken function only used in NoiseModel, working on fixing
2010-01-16 20:18:45 +00:00
049cea6964
3D Pose SLAM + removed obsolete Urban files that somehow re-appeared in CitySLAM
2010-01-16 19:37:17 +00:00
c051be9edf
did not compile
2010-01-16 19:35:50 +00:00
6714ba59f4
delete binary file testPose2Prior
2010-01-16 19:09:13 +00:00
f0ae2c064e
Merging in NoiseModel, not yet used though
2010-01-16 18:39:39 +00:00
99db4c37d8
2D Pose SLAM: created a new templated factor to accommodate GPS measurements, and as part of the refactor I consolidated all Pose2 SLAM classes in pose2SLAM.h. For backwards compatibility it contains
...
typedef pose2SLAM::Prior Pose2Prior;
typedef pose2SLAM::Odometry Pose2Factor;
typedef pose2SLAM::Constraint Pose2Constraint;
typedef pose2SLAM::Config Pose2Config;
typedef pose2SLAM::Graph Pose2Graph;
2010-01-16 18:01:16 +00:00
3c9c8bcfe5
Pose2Prior is now a typedef, improved some derivatives
2010-01-16 16:46:57 +00:00
4914091c87
Pose2Prior test
2010-01-16 15:39:39 +00:00
2605d18152
removed obsolete tests
2010-01-16 14:59:22 +00:00
b0f27c5d4b
set sigma to 1 in pose2prior
2010-01-16 07:50:14 +00:00
a4d61d2f23
Little performance twiddles that make little difference
2010-01-16 07:22:34 +00:00
a8afe0da7c
Forgot pre-multiply of error vector
2010-01-16 07:00:07 +00:00
91a0fb23df
Weighted pseudo-inverse now takes weights (1/sigma^2). Does not make a lot of performance difference.
2010-01-16 06:25:11 +00:00
fce2a668bb
uncomment the commented out unit tests during debugging
2010-01-16 05:10:07 +00:00
f5a6a10feb
debug hard constraint and make pose2prior work
2010-01-16 05:08:29 +00:00
fb3e38b161
25% performance increase by improving weighted_eliminate
2010-01-16 04:57:58 +00:00
26246188af
Added planar graph to timing script
2010-01-16 04:46:35 +00:00
a4ed0a191d
Forgotten header numericalDerivative.h
2010-01-16 04:22:41 +00:00
07c7c4c0bd
print size with ordering
2010-01-16 04:22:21 +00:00
a956c1a8be
svn restored from 1733.
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this commit updates gtsam to version 1774, which now appears as 1734.
2010-01-16 01:16:59 +00:00
5c0cd093fd
moved relative_bearing to Rot2, changed derivatives to new-style
2010-01-14 16:57:48 +00:00
53a03a0021
Changed signature of tree insert
2010-01-14 16:05:04 +00:00
f645b560ea
Added constructor body
2010-01-14 15:35:23 +00:00
c7e0fe9fd8
fixed template instantiation
2010-01-14 15:32:14 +00:00
e7bf219498
removed .cpp
2010-01-14 15:31:58 +00:00
25372aaa12
c_str
2010-01-14 15:31:42 +00:00
e1388c0f0d
add Ordering-inl.h
2010-01-14 07:56:03 +00:00
dd697a838d
added TupleConfig.h as header
2010-01-14 06:20:34 +00:00
df62213619
RangeFactor works
2010-01-14 06:00:17 +00:00
a552ba4539
Comments/formatting only
2010-01-14 05:59:33 +00:00
8088aea598
Added double as Lie type, needed to remove Lie.h include from Vector.h
2010-01-14 05:58:58 +00:00
1519d029dc
use PredecessorMap instead of map<Key,Key>
2010-01-14 05:24:20 +00:00
8562c00a52
Explicit instantiation to fix link error on Linux, also header to install that was missing from Makefile.am
2010-01-14 05:01:40 +00:00
9bf6409b16
BearingFactor works
2010-01-14 04:35:18 +00:00
32626b3391
bug fix (only worked on Mac)
2010-01-14 03:42:34 +00:00
68d90772e6
ordering is fixed
2010-01-14 03:21:07 +00:00
ac10c440e1
PairConfig is implemented, VSLAMConfig is now a typedef!
2010-01-14 02:58:29 +00:00
6b3e8cf49c
simulated2D now reduced to one .h and .cpp, in its own namespace, better naming, and new-style functions to serve as example
2010-01-14 02:50:06 +00:00
fca2de8f95
fix unit test
2010-01-14 02:21:14 +00:00
7ad114c72f
problem with predecessorMap2Graph
2010-01-14 02:16:29 +00:00
63440f937f
almost fixed oredering except one function call
2010-01-14 02:07:14 +00:00
5a02b36723
Solved some linking problems
2010-01-14 01:44:00 +00:00
6c7dfabe5b
remove template class G and V from predecessorMap2Graph as Frank suggested
2010-01-14 01:25:40 +00:00
3c66861790
fix the graph related functions in FactorGraph as well as its unit tests
2010-01-13 23:59:46 +00:00
93465945e9
Large gtsam refactoring
...
To support faster development *and* better performance Richard and I pushed through a large refactoring of NonlinearFactors.
The following are the biggest changes:
1) NonLinearFactor1 and NonLinearFactor2 are now templated on Config, Key type, and X type, where X is the argument to the measurement function.
2) The measurement itself is no longer kept in the nonlinear factor. Instead, a derived class (see testVSLAMFactor, testNonlinearEquality, testPose3Factor etc...) has to implement a function to compute the errors, "evaluateErrors". Instead of (h(x)-z), it needs to return (z-h(x)), so Ax-b is an approximation of the error. IMPORTANT: evaluateErrors needs - if asked - *combine* the calculation of the function value h(x) and the derivatives dh(x)/dx. This was a major performance issue. To do this, boost::optional<Matrix&> arguments are provided, and tin EvaluateErrors you just says something like
if (H) *H = Matrix_(3,6,....);
3) We are no longer using int or strings for nonlinear factors. Instead, the preferred key type is now Symbol, defined in Key.h. This is both fast and cool: you can construct it from an int, and cast it to a strong. It also does type checking: a Symbol<Pose3,'x'> will not match a Symbol<Pose2,'x'>
4) minor: take a look at LieConfig.h: it help you avoid writing a lot of code bu automatically creating configs for a certain type. See e.g. Pose3Config.h. A "double" LieConfig is on the way - Thanks Richard and Manohar !
2010-01-13 22:25:03 +00:00
22b4912d5e
adding #include<boost/shared_ptr.hpp> to graph-inl.h because this dependency doesnt seem to be working without it on gcc 4.3.3
2010-01-13 19:36:52 +00:00
c0bc7e6c10
fix a bug in composePoses that switched the order of compose parameters
2010-01-13 06:02:18 +00:00
2a094b7491
return shared_ptr in composePoses
2010-01-13 02:09:16 +00:00
8d28763339
Vector and Matrix initialization optimization
2010-01-12 16:12:31 +00:00
4369cd2d92
1) add a compose function that compose all the poses in a factor graph given the spanning tree
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2) add a new graph-inl.h which takes care of all the boost graph related functions to prevent the copy and paste across several classes
2010-01-12 16:12:25 +00:00
bea55b5f5b
Fixed double map lookup
2010-01-12 16:11:24 +00:00
fcb7c024a7
bearing functions and derivatives
2010-01-12 02:10:42 +00:00
4b459c45c3
return identity
2010-01-12 02:09:43 +00:00
5163684077
norm
2010-01-12 02:09:03 +00:00
1aed18717b
combined evaluation and derivatives
2010-01-12 02:08:41 +00:00
2c8d8dbde4
NonlinearOptimizer constructor now requires shared_ptr to prevent storing pointers to stack and temporary variables. Code that uses it will need to be modified, but CitySLAM is already done.
2010-01-11 20:17:28 +00:00
40889e8f50
added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions
2010-01-11 08:32:59 +00:00
1b53a240b9
removed prints
2010-01-11 01:09:07 +00:00
e9b0bade03
Access to keys
2010-01-11 00:53:53 +00:00
71fe372fb3
test successive iterates
2010-01-11 00:53:43 +00:00
aa2aa4149c
Special case for trace==1 in Rot3 logmap
2010-01-10 23:36:37 +00:00
b0fd5396ad
Bug fix in Rot3 for logmap(identity)
2010-01-10 22:58:30 +00:00
1dcc864d97
Comment cleanup to /** style and adding global print functions
2010-01-10 22:41:23 +00:00
78a579a24a
add the missing #pragma once
2010-01-10 22:15:34 +00:00
f8be2c2626
dim, expmap, logmap works
2010-01-10 21:53:38 +00:00
64eca2d550
addConstraint
2010-01-10 19:25:19 +00:00
d11b2e6bd5
Added omitted headers
2010-01-10 18:37:55 +00:00
88ae5380a8
Removed Vector-specific versions of NumericalDerivative, instead Vector is now a Lie object
2010-01-10 18:23:47 +00:00
1a96ef41cf
Created Pose3Config, Pose3Graph, and tested loop closure optimization.
2010-01-10 18:21:20 +00:00
2fe02dbaa7
Moved optimization tests to testPose2Graph
2010-01-10 18:20:10 +00:00
edb68b3b60
Fixed typo in LieConfig expmap(Vector)
2010-01-10 17:48:55 +00:00
33ba34a1f6
Minimized headers included in Lie.h, removed print from testLieConfig
2010-01-10 17:26:44 +00:00
8d84078036
Loop closure tested
2010-01-10 17:02:49 +00:00
12caabb667
Method to add a factor without having to do shared factor dance
2010-01-10 17:02:35 +00:00
120f1301c2
operator[]
2010-01-10 17:01:48 +00:00
710bce5cc4
Pose2Config is now simply a typedef (note that for linking specific template instantiations were needed).
2010-01-10 16:17:55 +00:00
4a21fb9387
Fixed 2nd expmap template, which now creates a VectorConfig and calls the first template
2010-01-10 16:16:03 +00:00
65e4dc1342
pose2Circle
2010-01-10 15:46:18 +00:00
43b2facd10
Now Pose3Config == LieConfig
2010-01-10 14:59:39 +00:00
92c58e50a1
Small changes, mainly const correctness
2010-01-10 14:59:22 +00:00
c957672656
Small to change to work well with LieConfig
2010-01-10 14:55:19 +00:00
794ffd3b2f
Fixed significant bug in Pose2Factor, where we forgot to multiply the error with the square root inverse covariance.
2010-01-10 13:55:55 +00:00
8061f29ec5
added test clarifying Ax-b \approx h(x)-z
2010-01-10 13:54:34 +00:00
f1f21a8589
inverted sign of square root to make inv sqrt positive for simple covariance matrices
2010-01-10 13:53:31 +00:00
bf315781af
defined global functions in Lie.h rather than here
2010-01-10 12:35:41 +00:00
6bcb9d08d6
Unit tests for correct "Agrawal06iros" versions: they are indeed correct.
2010-01-10 12:26:31 +00:00
30367e35fb
Much faster compund rotation using Justin's (indeed correct) formula
2010-01-10 12:25:46 +00:00
d5eade62ef
Moved expmap and logmap to .cpp, also tested correct "Agrawal06iros" versions, and they are indeed correct (see testPose3).
2010-01-10 12:24:31 +00:00
ec1b57ed08
Added Lie required functions (trivial) for Vector. Not in Vector.h as this becomes circular.
2010-01-10 12:22:59 +00:00
4fa53a1f79
Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function.
2010-01-10 06:35:16 +00:00
6a7987fa91
fix Pose2Prior problem and adding prior factor when splitting factor graph
2010-01-09 23:39:11 +00:00
2b82ff65e7
Deriving Lie objects from a base class Lie<T>, which provides member functions to access global functions, for use in MATLAB.
2010-01-09 23:15:06 +00:00
d015b31799
more meaningful error messages for matrix operations
2010-01-09 07:06:29 +00:00
cc358fb2ce
removed print statements
2010-01-09 02:37:58 +00:00
5fbb820341
fixed comments and tolerances
2010-01-09 02:27:49 +00:00
6851b31fad
Added static methods to construct rotations, coded up convention for yaw-pitch-roll, modernized RQ
2010-01-09 00:03:47 +00:00
d4f92c7bb6
pass FactorGraph as reference into split
2010-01-08 20:27:10 +00:00
06b7f8ee04
add split to FactorGraph
2010-01-08 19:07:46 +00:00
5dc237eeea
BetweenFactor is a template that models the measurement between two Lie types e.g. Pose2 or Pose3. Pose2Factor and Pose3Factor are now simply typedefs.
2010-01-08 15:32:45 +00:00
215ff24d0f
generate ordering by breadth-first-search, a lot faster than before
2010-01-08 04:12:23 +00:00
8d22b3aca2
Just refactoring
2010-01-08 03:38:05 +00:00
f684becf1f
Fixed Dbetween1
2010-01-08 03:06:03 +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
a845b3d30a
generate ordering from the spanning tree
2010-01-07 08:00:54 +00:00
6298a45050
use prim algorithm instead of kruskal for finding MST, which yields the parent map.
2010-01-07 06:25:54 +00:00
20c6f29823
Moved control-related components to separate library
2010-01-06 20:01:34 +00:00
b20ed42134
log and between
2010-01-06 19:29:41 +00:00
f77da96caf
Modernized and tested RQ and added Rot3::ypr. Note this yaw-pitch-roll is different from ML version, which is focused on cameras. Let the fun begin...
2010-01-06 15:52:43 +00:00
9845a5ae37
add findMinimumSpanningTree to FactorGraph
2010-01-06 11:15:37 +00:00
cd644e75a5
GaussianBayesNet::matrix now properly divides in sigmas
2010-01-05 14:14:49 +00:00
22d66df766
added manifold test
2010-01-05 14:13:51 +00:00
39334ea9e0
Update MATLAB wrapper for earlier Pose2* changes
2010-01-04 18:07:24 +00:00
46cc85e351
added size and clear to pose2config
2010-01-03 07:25:59 +00:00
052149771a
relinearizing factors corresponding to contaminated cliques
2010-01-03 04:57:35 +00:00
cade0e7780
fix timing test linking problem by using noinst_PROGRAMS
2010-01-03 00:23:16 +00:00
68159fb5e4
corrected SubgraphPreconditioner case
2010-01-02 20:24:59 +00:00
f82b46f96c
Sped up rodriguez and replaced slow implementation with call to fast implementation. Also moved some functions to cpp.
2010-01-02 14:28:18 +00:00
a1c55b9f62
Updated Pose2Config to expected coding standard
2010-01-02 10:33:33 +00:00
ff06cd757f
moved all "Urban" factors and tests to (cmake-based) CitySLAM project
2009-12-31 16:54:23 +00:00
a1d14ba2ae
Added Bayes Net and Subgraph preconditioners to gtsam (developed in CitySLAM project)
2009-12-31 12:56:47 +00:00
730f4a546f
Added planar graph with easy subtree
2009-12-31 12:55:51 +00:00
07cc95e4c4
Comments and formatting
2009-12-31 12:55:16 +00:00
eaa8176de1
correct behavior when entire columns are zero
2009-12-31 10:30:44 +00:00
46a65d89df
using ediv_ where needed
2009-12-31 10:30:06 +00:00
f7d5b517a4
ediv_ is same as ediv except returns 0 for 0/0 division, needed for dealing with constraints
2009-12-31 10:29:25 +00:00
3fbc857a9e
fixed behavior of error for sigma==0
2009-12-31 10:28:43 +00:00
9b327d1a9d
added reset
2009-12-31 10:27:39 +00:00
bf85f10de7
subtraction
2009-12-31 10:27:16 +00:00
b4e65e9631
progress in ISAM2, but unit test still disabled
2009-12-31 05:35:08 +00:00
afc3028ad5
Fixed bug in testPose2Factor optimize unit test where only the first expected value was checked.
2009-12-30 18:41:33 +00:00
793a9d58ae
Errors is now a list
2009-12-30 17:13:36 +00:00
Frank Dellaert
Michael Kaess
Richard Roberts
Manohar Paluri
Kai Ni
Chris Beall
John Rogers
Viorela Ila
Alex Cunningham