f80ac5d7d5
backSubstitute functions (unit-tested in CitySLAM) for preconditioning
2009-12-30 17:13:24 +00:00
2368f3605a
getReference
2009-12-30 14:53:40 +00:00
15bb00683a
transpose backsubstitute on upper-triangular matrix
2009-12-30 13:20:16 +00:00
42fca8c399
nonlinear update, all but rhs/config
2009-12-30 04:27:14 +00:00
0b9451bc4b
Initializing libtool correctly in gtsam (see email to frankcvs with same subject)
2009-12-29 20:01:38 +00:00
737a2f1e05
unit test enabled again and working
2009-12-29 14:54:45 +00:00
c43cd425ab
new back-substitution functions that can do unit triangular solves
2009-12-29 13:59:34 +00:00
75ab62a729
ISAM2 (nonlinear ISAM) partially there, unit test currently disabled
2009-12-29 05:57:05 +00:00
8d4a029665
rhs method
2009-12-28 18:46:01 +00:00
543d3fcd65
System now a class (gradient is method)
2009-12-28 17:28:48 +00:00
0c0b73042b
template now exposed in iterative.h, and has its own implementation file
2009-12-28 16:26:16 +00:00
5ac304aff3
correct convergence criterion, verbose flag
2009-12-28 16:15:26 +00:00
674ae9d030
steepest descent now all implemented in iterative.h/cpp
2009-12-28 12:37:34 +00:00
bc27afc49f
CGD method now uses CGD template in iterative.cpp
2009-12-28 10:48:48 +00:00
863ee58c0f
new iterative.h/cpp compilation unit
2009-12-28 09:56:58 +00:00
d9fd502656
moved CG tests from testGFG to testIterative
2009-12-28 09:44:30 +00:00
1fac98b4cb
Errors:dot, VectorConfig::operator*/-, as a result Conjugate Gradient Descent template now works for factor graphs
2009-12-28 08:15:09 +00:00
5dfd1921e1
template nightmare resolved, all tests working
2009-12-27 23:15:36 +00:00
266fc56dea
Gradient using new operator^ and errors method
2009-12-27 12:13:31 +00:00
7d1428de60
Added Errors class and operator* for GaussianFactor and GaussianFactorGraph. Also moved a few functions to cpp.
2009-12-26 22:48:41 +00:00
6614434b83
System version of CG
2009-12-26 21:25:45 +00:00
8d3918e7f9
Typo made testPose2Factor not build on Linux
2009-12-26 19:31:02 +00:00
f3965b07ca
Conjugate Gradient Descent template (in progress)
2009-12-26 15:06:54 +00:00
886c7dcdcc
formatting and comments
2009-12-26 15:06:21 +00:00
8dbf79706e
commented out two broken tests
2009-12-26 15:05:55 +00:00
4403b51fcd
isam functionality separated into ISAM class, still within BayesTree
2009-12-26 04:44:13 +00:00
2cb52694b5
Multiply with transpose sugar A'*v = A^v
2009-12-25 17:52:58 +00:00
80ff7e6d26
uncommented urban In Makefile.am as it prevents linking; added Pose2Prior; ISAM2/planar now working
2009-12-24 23:44:08 +00:00
92b60a8543
Made 'between' derivatives in the tangent space of the solution instead of tangent space of identity, this makes Pose2 an "origin-free" manifold.
2009-12-21 16:43:23 +00:00
d0b757da48
remove method to set factor to NULL
2009-12-20 21:21:01 +00:00
3158a5c7c1
Rework UrbanMeasurement to be more efficient, less duplicate code. Add real unit tests for the class
2009-12-20 14:59:37 +00:00
d362fa13d8
print is more intuitive using reverse order
2009-12-20 11:56:33 +00:00
18c44e0d1f
Comments only
2009-12-20 10:32:34 +00:00
7012fd2857
UrbanMeasurement first pass at implementation. Still need to add test data, sort out some details.
2009-12-18 19:43:55 +00:00
82825a30bf
Fixed unit test broken by fix in Pose2Factor
2009-12-18 14:42:19 +00:00
b14094cb1f
testUrbanOdometry
2009-12-18 07:15:19 +00:00
d11d674c01
addOdometry now works
2009-12-18 06:55:44 +00:00
c987ab397c
error_vectors
2009-12-18 06:55:24 +00:00
bf504d30db
new concatVectors call
2009-12-18 06:11:19 +00:00
ac72d1cc22
renamed transformPose_to to transform_to, composeTransform to compose, and changed nr. of arguments of Dtransform_to2 (to two)
2009-12-18 05:36:53 +00:00
eaf27af92d
error_vector and error unit-tested
2009-12-18 05:18:31 +00:00
edb72d305f
better error message, formatting
2009-12-18 05:16:09 +00:00
0194926dc2
transpose not needed
2009-12-18 05:14:34 +00:00
c9bd327961
formatting
2009-12-18 05:14:08 +00:00
e2bc13a2a6
Renaming gradients -> jacobians
2009-12-18 03:05:47 +00:00
a3deb992c4
use BOOST_FOREACH
2009-12-18 02:48:21 +00:00
a1918056a5
Changed NonlinearConstraints to take cost and gradient functions that do not take the list of keys. Tests have been reconstructed using boost::bind
2009-12-18 02:39:02 +00:00
5a0bc8ab53
remove binaries
2009-12-18 02:30:05 +00:00
cf1fde7bda
UrbanFactor, UrbanGraph.cpp, template instantiations
2009-12-18 02:27:50 +00:00
7d0de77fc6
Changed argument ordering for constraints
2009-12-18 01:40:29 +00:00
7dfc67860c
unit tests for new Urban* classes
2009-12-18 01:24:28 +00:00
d75a602546
Removed failed test testSQPOptimizer
2009-12-18 01:24:19 +00:00
ff817551de
Added FactorGraph::replace(index, factor) to replace one factor with another (used in FrameSLAM).
2009-12-18 00:13:38 +00:00
3c0ae0ec1c
Math fix in linearize() and error_vector()
2009-12-18 00:10:20 +00:00
7161878285
Small changes: standardized constructors, added log() and unit tests, removed +,- ops, angle() changed to theta(), print functions
2009-12-18 00:09:54 +00:00
d61d92c0e7
UrbanGraph class and testUrbanGraph TODOs
2009-12-17 21:23:50 +00:00
68de3ae715
better comments
2009-12-17 19:34:27 +00:00
dc9a966fdd
moved shared pointer declaration to Cal3_S2.h
2009-12-17 10:02:43 +00:00
3326759f0b
Removed extra ;
2009-12-16 21:41:33 +00:00
c45f64657f
Changes to make Pose2Config work with NonlinearOptimizer
2009-12-16 21:40:41 +00:00
83c95f2343
Changed constructor used from Pose2(t,R) to Pose2(R,t)
2009-12-16 21:39:03 +00:00
9efac7b3fb
Some re-naming and re-formatting only
2009-12-15 05:34:49 +00:00
94f986bbe7
Indentation
2009-12-15 00:00:02 +00:00
a7a5e5e816
small performance improvement by using a pointer to address r
2009-12-14 16:56:50 +00:00
71bc9ca0f7
Added unit tests that were missing
2009-12-14 15:45:45 +00:00
971b575715
Fix duplicate definition error by adding 'inline' to checkConvergence
2009-12-14 06:10:51 +00:00
2270c7d787
BayesTree animation
2009-12-14 06:01:15 +00:00
c4b60bfd65
Closing # 118: Made Pose2 use Rot2, added 'compose' for Pose2, made slight modifications to Rot2. Also added additional unit tests. This change shouldn't break anything but let me know if it does.
2009-12-14 03:02:05 +00:00
0116b3a515
severe bug fixed in updating of Bayestree
2009-12-13 20:54:48 +00:00
d5d70d7751
gradientDescent_ and conjugateGradientDescent_ works in matlab
2009-12-13 03:02:14 +00:00
6e3f36dc63
Trying different orderings
2009-12-12 12:53:39 +00:00
2914d663de
No print in tests
2009-12-12 06:18:59 +00:00
c38683cd64
Sped up and fixed (?) sparse
2009-12-12 06:18:29 +00:00
99533f286f
Vanilla Conjugate Gradient Descent works
2009-12-12 04:44:34 +00:00
2a2963b7dd
Added a numerical gradient calculation test
2009-12-12 04:13:12 +00:00
56a4172480
Fixed printing in matlab
2009-12-12 04:12:24 +00:00
be10fc2a90
18% performance boost by using pointer to address destination matrix A
2009-12-11 23:59:37 +00:00
631248f902
no print yet
2009-12-11 23:16:57 +00:00
570c6a3c71
print method for Pose2Graph
2009-12-11 23:00:52 +00:00
8a9f05059c
implement getOrdering_ to work in matlab
2009-12-11 22:53:48 +00:00
a1e90af90f
exmap that takes Vector
2009-12-11 22:43:34 +00:00
137291b2c9
Vector-like operators
2009-12-11 21:38:08 +00:00
e46cfbd7c4
fixed bug in sum
2009-12-11 21:37:52 +00:00
bca489384e
dot product
2009-12-11 21:37:40 +00:00
76b55aba7d
linearize method for Pose2Graph works in Matlab!!
2009-12-11 21:34:08 +00:00
03304ac421
testPose2Graph tests linearize
2009-12-11 19:32:46 +00:00
a66f08a5e0
testing new alphaFactor
2009-12-11 18:03:43 +00:00
f91a1f0192
error_vector
2009-12-11 17:42:54 +00:00
abc268a13d
quick cleanup - expmap comments
2009-12-11 14:22:35 +00:00
16e1f6e56d
use Vector_ for conciseness
2009-12-11 05:28:19 +00:00
726858145a
gradient descent (with fixed nr. of iterations, choosing optimal step size)
2009-12-11 04:59:05 +00:00
299fcf1e04
scale is const !
2009-12-11 04:57:31 +00:00
c57501eddd
fix macro so GTSAM_PRINT(*foo) works
2009-12-11 04:57:14 +00:00
7151e7b24a
new constructor from vector
2009-12-11 04:56:29 +00:00
4af2382105
Gradient at solution is zero !
2009-12-11 02:59:09 +00:00
532ea0ae36
fixed weird error that several of us have been experiencing with GaussianBayesTree.h appearing twice in the install command. fixed by moving Symbolic inference section above Inference Section.
2009-12-11 01:38:45 +00:00
1a96534016
add Pose2Graph
2009-12-10 23:45:38 +00:00
e7a912bd3b
Calculate gradient of factor graph objective function.
2009-12-10 20:19:15 +00:00
67e1897e47
Get and [] now return references, new imperative add method
2009-12-10 20:17:11 +00:00
81ce0bef88
New operator for left-multiplication of vector
2009-12-10 20:16:40 +00:00
2df0e49e9b
optimize works for GaussianBayessTree
2009-12-10 17:00:11 +00:00
f44af12836
Renamed variable
2009-12-10 15:34:09 +00:00
d26664d975
Convenience functions for adding factors
2009-12-10 15:33:52 +00:00
e0274dab59
Pose2Config constructor
2009-12-10 04:12:41 +00:00
072dea81b0
rename Pose2Constraint using Pose2Factor
2009-12-09 23:43:01 +00:00
cee3f2a355
fixed recursive inclusion. Was giving error when you build gtsam
2009-12-09 22:53:44 +00:00
db0d7286c2
Fixed Michael's c++ trubbles.
2009-12-09 22:15:38 +00:00
72ba1bee24
separate cpp
2009-12-09 22:02:50 +00:00
7d4de3ec20
Added a 1D manifold implementation of 2D rotations. The new representation stores (cos theta, sin theta) rather than theta itself, ensuring that (a) rotate and unrotate do not call cos/sin, (b) same for all derivatives of rotate and unrotate, (c) when you call angle(), you always get the standardized answer given by atan2. The idea is that we will use this new type in Pose2 instead of angle.
2009-12-09 21:50:27 +00:00
91370a9d7a
added public iterator typedefs to VSLAMConfig to make it easier for other code to consume the optimization results.
2009-12-09 21:47:23 +00:00
1ec93f05cd
added a test case which uses getOrdering instead of defining the order manually.
2009-12-09 21:22:16 +00:00
a9dc57db2c
2009-12-09 21:00:53 +00:00
ffa009d3ff
accidentially checked in
2009-12-09 20:56:03 +00:00
34e913e236
optimization over cliques started
2009-12-09 20:49:04 +00:00
638b174541
Pose2Constraint works in matlab
2009-12-09 19:55:25 +00:00
4200271cf4
GaussianBayesTree added, testBayesTree split
2009-12-09 19:39:25 +00:00
a4a552ea86
fixed bug concerning variable keys not being saved.
2009-12-09 19:13:02 +00:00
3b3c76b273
cleaned up, and removed Testable here because it's already provided by base class FactorGraph
2009-12-09 19:11:45 +00:00
b87aa58c1f
add Pose2Constraint class
2009-12-09 17:29:43 +00:00
f764772106
added getOrdering unit test
2009-12-09 15:25:50 +00:00
e43548d03a
A couple more "missing" .hpp files for newer gcc :-)
2009-12-08 22:49:57 +00:00
9bbea6dcbd
some additional includes needed with newer compiler
2009-12-08 21:40:09 +00:00
d7c67532bf
Changed format of Matrix::vector_scale() to switch arguments
2009-12-08 21:10:38 +00:00
066b80e02e
Pose2Constraint, initial check in with working linearize
2009-12-08 20:48:39 +00:00
16da0895a8
square_root_inverse
2009-12-08 20:48:13 +00:00
d1ab2c7288
transform_to and between, with derivatives, unit-tested
2009-12-08 19:12:20 +00:00
6ead19648f
Modernized Pose2 constraint and added numerical derivative check
2009-12-08 14:02:56 +00:00
152fa0069a
fixed expected, actual nomenclature in assert_equal: always use (expected, equal) order
2009-12-08 13:53:33 +00:00
95260281d1
add testFunctions (h, H1, H2) for Pose Constraint
2009-12-07 23:17:03 +00:00
53af03368f
Fixed indentation
2009-12-07 22:51:49 +00:00
e244e22c6a
added probability function that computes the probability of a BinaryBayesNet given a config.
2009-12-07 07:12:01 +00:00
115d9a8adf
replaced pow with bit shift operator, changed constructor to take p(x|parents) and created cpt inside the constructor.
2009-12-07 03:25:25 +00:00
28eb550781
Used a map for config
2009-12-07 00:49:13 +00:00
b9e15ee789
Added cpt to BinaryConditional
2009-12-06 23:28:46 +00:00
60a3a21d5a
Binary Bayes Net, incomplete
2009-12-06 21:46:46 +00:00
2a4e90a283
Re-factored append_factor to use FOREACH_PAIR
2009-12-05 02:00:20 +00:00
e98081f92c
changes to append_factor which give more than 2x speedup on my data. Matrices in As are no longer copied/edited/replaced each time they need to be changed, but created once and then updated in place.
2009-12-04 21:03:32 +00:00
ae9789c9ee
Cleaner printing with tabs after each element
2009-12-02 23:01:49 +00:00
5bde26a885
odprintf is an auxiliary function to printf for Win32 compatibility
2009-12-02 19:37:54 +00:00
e26acc0d8d
Changed nonlinear constraints to use boost.bind to handle arbitrary function objects for evaluating cost, useful for parameterizing cost functions.
2009-12-01 19:45:47 +00:00
c00252a8f6
add method combine to GaussianFactorGraph in gtsam.h
2009-12-01 16:01:29 +00:00
a3ce3f31c8
Cleanup with NonlinearConstraints to make the active() function do thresholding for inequality constraints, rather than constraint function itself.
...
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
0ff7e3a5d9
Changed interface on constraint g(x) and grad_g(x) functions to take a list of keys, so that all of the variables in a factor can be used as necessary. Moved g(x) into base NonlinearConstraint class and some cleanup.
2009-11-28 19:18:02 +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.
...
Created testOrdering for new subtract() function to remove parts of an ordering.
2009-11-28 18:35:36 +00:00
f3e825767b
NonlinearConstraints now handle inactive constraints (when the state is already in the feasible region) by returning empty factors on linearization.
2009-11-27 18:42:01 +00:00
cf6474c99b
Added a graph implementation for multi-robot control systems. Currently can only really constrain the ends of a trajectory.
...
Made a number of fixes and updates to the ControlConfig as well.
2009-11-27 17:59:03 +00:00
2a2e11d05d
Added the config and units for a robot control system example that keeps a position and velocity model of a robot's motion.
2009-11-26 05:52:17 +00:00
43e4c66407
Added more detail to VSLAM test that diverges.
2009-11-24 16:03:57 +00:00
d788e9833d
Added tests to ensure that configs will only update existing values when using exmap and not add new ones if there are more values in the delta config. VectorConfig and VSLAMConfig both do this properly now.
2009-11-24 15:12:59 +00:00
e3e79e3888
Added lagrange access function to the SQPOptimizer
...
Added a test testSQP to try changing the initial Lagrange multiplier values to find a way around the stability problem, but there is no effect.
2009-11-24 14:44:46 +00:00
140e79572f
Added a test to testSQP to check VSLAM solution stability when the initial config is away from the ground truth. The test without the nonlinear constraints has the same stability problem, and both the constrained and unconstrained versions are in place and disabled.
2009-11-24 14:14:03 +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.
...
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
ac315082aa
new example from RSS sqrtSAM in testBayesTree
2009-11-23 20:11:10 +00:00
0b333630e7
Added an SQPOptimizer class with accompanying test - currently doesn't do much
2009-11-23 19:57:35 +00:00
d15a7a073c
SymbolicFactor works in Matlab
2009-11-23 19:45:09 +00:00
36877532ad
Added ground truth for VSLAM example in testSQP
2009-11-23 16:45:53 +00:00
f272e2f6fe
Added a second smoother test
2009-11-23 05:27:37 +00:00
9bac438dbe
Play nice with BOOST_FOREACH: non-const begin/end. Also removed buggy clear().
2009-11-23 05:27:19 +00:00
10a8ac34ec
iSAM smoother test
2009-11-23 01:16:58 +00:00
4951a25453
More efficient removeTop
2009-11-23 00:02:06 +00:00
35af122e83
Added a new version of removeTop and simplified update
2009-11-22 23:50:01 +00:00
7d384488e3
BayesTree::update generalized and moved from testIncremental to BayesTree; testIncremental removed
2009-11-22 23:35:13 +00:00
64a43b0492
removeTop now does not bomb when a clique does not exist: it just does nothing
2009-11-22 22:59:56 +00:00
4e74edba72
Some simplification
2009-11-22 22:39:32 +00:00
ab117947d7
update now takes a factor graph, rather than an individual factor
2009-11-22 22:26:24 +00:00
a3de1df5a4
adding orphans assuming that the first separator key refers to the parent; GTSAM_PRINT define
2009-11-22 21:18:31 +00:00
198f73a05f
Insert conditionals straight into the topless bayesTree
2009-11-22 18:40:55 +00:00
32db0595f4
using removeTop now
2009-11-22 18:27:14 +00:00
952798e751
fixed orphans bug
2009-11-22 18:22:17 +00:00
9da2f16f4d
Removed copy/paste in unit tests
2009-11-22 18:12:29 +00:00
d4aaa5d114
Added two more removePath tests and fixed bug in removeTop. But orphan list is still incorrect.
2009-11-22 18:06:28 +00:00
45292f7bd6
Cliques implemented; unit test on orphans for removePath; bug fix in removePath/orphans
2009-11-22 17:40:24 +00:00
53754ccbb8
removeTop with one factor implemented and one test works (orphans not yet checked)
2009-11-22 17:34:59 +00:00
6f11c0803b
Cliques class
2009-11-22 16:46:29 +00:00
7ce62f1626
Some template magic and boost:tie cleared up the compile issues in removePath
2009-11-22 16:04:51 +00:00
4449cfd30c
remove_path now also returns list of orphaned subtree roots; compile problem...
2009-11-21 23:41:43 +00:00
82aae3c161
Some re-factoring (using BOOST_FOREACH to loop over string list), root is now NULL after removing root clique
2009-11-21 21:48:10 +00:00
1fd0404ec9
Cleanup in testSQP, also demoed the unary constraint, as well.
2009-11-21 19:05:24 +00:00
00b5b25591
Awesome recursive version of removePath
2009-11-21 06:14:53 +00:00
072846a70f
moved addClique and removeClique implementations to inl.h,
...
removePath takes clique argument now
2009-11-21 06:07:46 +00:00
286d826119
removed print
2009-11-21 06:06:30 +00:00
b113194e58
While watching TV :-) added some constructors for more readable tests.
2009-11-21 04:59:50 +00:00
a0a250750b
compare config
2009-11-21 04:22:59 +00:00
0286bc27eb
removePath mostly working
2009-11-21 03:38:13 +00:00
08f5b074a0
Added verbosity selector for the SQP demo to remove printouts every time it runs
2009-11-20 14:29:11 +00:00
715dc4474d
functional STL magic
2009-11-20 14:18:26 +00:00
d234365d53
involves is const
2009-11-20 14:17:52 +00:00
5f848f272b
SQP demo that moves maps into the correct reference frames is now working using the NonlinearConstraint machinery.
2009-11-20 14:05:21 +00:00
e440767db9
Use [involves], and now updating orphan list
2009-11-20 05:23:47 +00:00
55e85fd8a5
[involves] checks whether variable with that key is involved in any factor
2009-11-20 05:14:34 +00:00
6aba2f1c1c
Changed initial SQP example to use exmap using the new scaling function for VectorConfig
2009-11-20 05:13:32 +00:00
acfe742c29
Added a simple scaling function for VectorConfigs
2009-11-20 05:10:55 +00:00
714edb57f0
Basic implementation of a binary nonlinear constraint, with working linearization of a binary constraint.
2009-11-20 03:50:48 +00:00
ee4a066275
Implemented linearization and equality for unary NonlinearConstraints. Current tests use a scalar example. Split out implementation into a separate implementation file.
2009-11-20 03:04:49 +00:00
4ca1dbf325
generalized most of the update algorithm
2009-11-19 23:25:03 +00:00
429f27550c
Added a NonlinearConstraint and testNonlinearConstraint. There is currently an abstract base class for constraints and a partially implemented unary constraint.
2009-11-19 16:50:18 +00:00
cd913566f2
I now use push_back to add factors to the new factor graph, and called getOrdering to compute a colamd order. I fixed the test so it checks the right order. Unfortunately colamd is a worse ordering, and the two cliques from before are merged into one.
2009-11-19 06:37:06 +00:00
8d8503bd99
constructor with three parents
2009-11-19 06:34:28 +00:00
b2eee54b5a
push_back an entire factor graph
2009-11-19 06:34:07 +00:00
e2a3d1cb8f
Fixed test
2009-11-19 04:52:46 +00:00
f98f49381a
Added an example to testSQP to use for combining graphs
2009-11-18 21:57:59 +00:00
d700cd2cac
Made some small changes to testSQP to simplify the system and improve convergence.
2009-11-18 20:23:07 +00:00
7fc68e2d90
Updated testSQP to use a real SQP implementation as separate factors on the previous problem. SQP now works.
2009-11-18 19:42:14 +00:00
76d0a60b88
commented out all print statements
2009-11-18 18:22:08 +00:00
f40182518a
size() now returns correct nr. of cliques, not number of keys
2009-11-18 18:05:12 +00:00
d0efe2da5e
update almost correct, except for order
2009-11-18 17:40:05 +00:00
23031fbc04
convert clique into factor graph
2009-11-18 17:28:07 +00:00
1edcdb6f80
added SymbolicFactor constructor that takes a SymbolicConditional
2009-11-18 17:27:27 +00:00
c7e76891da
skeleton hardcoded version
2009-11-18 17:03:19 +00:00
bed219c997
no printout
2009-11-18 16:32:45 +00:00
21974f95e1
test for incremental update
2009-11-18 16:31:19 +00:00
bef2efacb7
fixed equals
2009-11-18 16:30:57 +00:00
ceed2ae17d
symbolic tree in testIncremental
2009-11-18 15:37:19 +00:00
f56bf8c79f
added missing include to satisfy stricter compiler; added isam test file
2009-11-17 21:47:42 +00:00
4f7d31986c
added cameraConstraint and corresponding unit test based on same 2 camera/4 landmark example, but now there are constraints on the two cameras and none of the landmarks.
2009-11-17 17:19:54 +00:00
e4eaae4605
Added equals function and serialization capability
2009-11-17 01:19:55 +00:00
d24846d9a0
fixed errors due to shared pointer change in VSLAMFactor
2009-11-17 01:02:55 +00:00
e312252006
Changed camera matrix to a shared pointer
2009-11-17 00:51:27 +00:00
256c094039
Added default constructor and Serialization
2009-11-16 23:49:04 +00:00
20830a1534
Added testSQP demo to show a simple problem solved by Sequential Quadratic Programming. To see the outputs, set verbose=true at the start of the test.
2009-11-16 19:12:56 +00:00
27a47c6535
Constructor now takes Point2
2009-11-13 06:19:21 +00:00
d5ada2a80c
Test now succeeds after adding 3 landmark constraints
...
Also cleaned up a bit
2009-11-13 06:19:08 +00:00
d26abf3ccf
addLandmarkConstraint
2009-11-13 06:18:27 +00:00
309f2151cf
Clean-up
2009-11-13 06:17:59 +00:00
fe974a3e72
Rank test needs to be re-thought
2009-11-13 06:17:19 +00:00
f5fc14c0f4
Fixed bug in revealing rank, even simpler than before.
2009-11-13 06:16:56 +00:00
7c045a0802
Fixed compile errors due to remaining VectorConfigs, and removed div0 warning
2009-11-13 06:15:48 +00:00
17aaae42d8
Refactoring of weightedPseudoInverse, emul, sum
2009-11-13 06:14:55 +00:00
2178589263
Debug printout and variable names
2009-11-13 06:13:58 +00:00
67c2ea8263
NonlinearEquality factor is now working for generic configs. Currently, the feasible point must be specified in the form of a full config with the point in it, but this avoid needing to increase the requirements on the configs.
2009-11-13 02:06:52 +00:00
cba4a536bb
includes Ordering.h
2009-11-13 01:56:09 +00:00
6252ff2497
added testVSLAMGraph unit test. will fail until we can add a constraint to either one of the two cameras.
2009-11-12 18:55:03 +00:00
ef0fc9fbac
added testVSLAMGraph unit test. will fail until we can add a constraint to either one of the two cameras.
2009-11-12 18:54:46 +00:00
03f865d4b1
Used typedefs with similar naming convention.
2009-11-12 18:33:14 +00:00
5857635ca1
Fixed renaming error with NonlinearFactors sometimes becoming NonGaussianFactors
2009-11-12 16:47:12 +00:00
c7b86cec97
Renamed ConditionalGaussian -> GaussianConditional
2009-11-12 16:41:18 +00:00
77a1754b69
Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph
2009-11-12 16:16:32 +00:00
1ae6bb4030
Added push_fron convenience method to add ConditionalGaussians into a Bayes net with much less clutter. Modernized some very old tests in the process.
2009-11-12 06:09:03 +00:00
f677341108
Moved inference methods to new compilation unit. Added [factor], and [marginalize] now returns a factor graph.
2009-11-12 04:56:30 +00:00
c85f5445db
Re-organized makefile
2009-11-12 04:54:31 +00:00
81a353dd2c
eliminate is now const
2009-11-12 04:53:28 +00:00
a38ebece1e
New compilation unit that collects generic, templated inference methods that go between factor graphs and Bayes nets. These used to be in BayesNet-inl.h and FactorGraph-inl.h
2009-11-12 04:52:40 +00:00
4a7e05fffa
change all print() to print(string s) and create SymbolicFactor
2009-11-11 22:45:08 +00:00
70efccefbc
VSLAMFactor Testable
2009-11-11 21:09:43 +00:00
8c695a778c
Implemented a rank deficient constraint test in testLinearFactor: note that it is possible to reorder elimination to make a system solvable or rank-deficient
2009-11-11 19:00:39 +00:00
ab65dfb4dd
Adding include file stdio.h to resolve compiling issue when upgrading to Ubuntu 9.10. The printf() compiles on ubuntu 9.04 and mac machines.
2009-11-11 17:15:17 +00:00
f51614813e
Improved weighted eliminate to handle arbitrary linear equality constraints
2009-11-11 14:42:09 +00:00
d585a329dc
Added MATLAB-friendly versions of eliminate and optimize in LinearFactorGraph (with trailing underscore). Also fixed some MATLAB code.
2009-11-11 07:14:13 +00:00
ac840d6f0a
1) DCVectorConfig I believe was obsolete as well as any conversion from and to Vectors, which I removed
...
2) load and flush are gone.
3) I made a VSLAMConfig "Testable".
4) I added an explicit template instantiation to avoid having to include -inl.h files
5) I added some more test code in testVSLAMFactor
2009-11-11 05:14:03 +00:00
00ff066b33
Fixed compile error
2009-11-11 05:13:25 +00:00
8d2d48d252
made removeAndCombineFactors a function, not a method
2009-11-11 05:12:45 +00:00
710d396d0b
cleaned up a few includes to make VSLAMGraph work properly after the move into gtsam.
2009-11-10 22:49:22 +00:00
dc3b85e43d
Todo: make wrapper for GaussianBayesNet. For now eliminate returns void in gtsam.h
2009-11-10 21:15:28 +00:00
08c9718b12
Moving VSLAMConfig into gtsam. VSLAMFactor lived there already, but was using VectorConfig directly... now using VSLAMConfig.
2009-11-10 20:19:00 +00:00
0d928035e0
added empty constructors for serialization, also made sure SymbolicConditional.h was installed
2009-11-10 14:55:07 +00:00
1f15650da0
Added serialization of base class
2009-11-10 14:44:53 +00:00
ddc0173671
Basic handling of constraints now works in factor graphs, assuming there is only one constraint on any given variable.
2009-11-10 04:36:07 +00:00
a7b711db37
Removed constraint variations on graphs/factors
2009-11-10 04:33:39 +00:00
2c37c94b5d
Replaced the householder transform with the weighted system
...
Removed constrained components from makefile, they will disappear shortly
2009-11-09 21:34:20 +00:00
03985d16f6
Fixed equality checking with NaNs in Matrix
...
removed extraneous print statement in Vector
2009-11-09 16:57:30 +00:00
01ee9246d7
fix Matlab toolbox to work with Frank's recent changes to gtsam.
2009-11-09 16:53:13 +00:00
1ae81b59d8
Fixed vector comparisons that will erroneously return true when there are NaN values.
2009-11-09 16:47:37 +00:00
a3de1964d7
BIG CHANGE:
...
1) eliminate methods no longer return a shared pointer. Shared pointers are good for Factors and Conditionals (which are also non-copyable), because these are often passed around under the hood. However, a BayesNet is simple a list of shared pointers and hence does not cost a lot to return as an object (which is compiler-optimized anyway: there is no copy). So, the signature of all eliminate methods changed to simply return a BayesNet<> object (not a shared pointer).
2) GaussianBayesNet::optimize is now replaced by optimize(GaussianBayesNet) and returns a VectorConfig and not a shared pointer
3) GaussianBayesNet and SymbolicBayesNet are now simply typedefs, not derived classes. This is desirable because the BayesTree class uses templated methods that return BayesNet<Conditional>, not a specific BayesNet derived class.
2009-11-09 07:04:26 +00:00
7bd40e836d
Cleaned up and added test for VSLAMFactor
2009-11-09 04:46:34 +00:00
e340178de5
Easy constructor
2009-11-09 04:46:08 +00:00
dd1b023ca9
Fixed special case for root
2009-11-09 04:45:38 +00:00
cc22e82ca6
Joint densities (covariances) now done. Was exceedingly easy :-)
2009-11-09 00:13:44 +00:00
3464c6a36f
Create from a single string
2009-11-08 22:51:29 +00:00
86173b66af
Clique marginal and dramatically simplified single variable marginal.
2009-11-08 22:51:12 +00:00
10e618f360
New function marginals. Also: combine entire Bayes nets with push_back and push_front. And finally: some convenience constructors in GaussianBayesNet.
2009-11-08 22:50:26 +00:00
58007a8167
Working recursive (but not cached) shortcut.
2009-11-08 04:41:01 +00:00
d1b8925617
Construct symbolic version of any Bayes net
2009-11-08 04:39:54 +00:00
532be063f9
new templated function combine
2009-11-08 02:50:19 +00:00
93da9e0f2c
pop_front
2009-11-08 02:49:18 +00:00
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
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
f5d186522e
Standardized on new shared_ptr naming convention
2009-11-07 17:24:05 +00:00
6339b5d19d
Made Node public
2009-11-07 15:58:45 +00:00
7ef9ed950b
Improved performance of matrix scaling in LinearFactor::matrix_augmented
...
Added matrix scaling functions to scale either the rows or columns by values from a vector
2009-11-06 13:43:39 +00:00
cd313e2f82
operator[] to retrieve clique
2009-11-06 05:55:29 +00:00
e1716a39cd
Two changes: LinearFactor::sparse and LinearFactorGraph:sparse, and renamed VariableSet -> Dimensions, which is now a map from keys to integer variable dimensions. Merged in from the "sparse" branch created with Viorela.
2009-11-06 05:43:03 +00:00
fb74ef03b2
Added to LinearFactor a matrix_augmented() function to get a single augmented matrix [A b]
...
Removed extra copying in LinearFactor::eliminate()
2009-11-05 15:08:58 +00:00
6c5603de0c
Fixed remaining LinearFactor unit tests
...
Added equality check for Variable
2009-11-05 13:52:12 +00:00
d9289d14b3
marginals on any scalar now work
2009-11-05 08:06:32 +00:00
beabb62f29
More informative print
2009-11-05 08:05:54 +00:00
bd54c39a73
Fixed bug in smoother example
2009-11-05 08:05:34 +00:00
e87c19ed7a
ConditionalGaussian now stores sigmas
2009-11-05 06:59:59 +00:00
88b8f4e16b
fixed unit test
2009-11-05 06:34:43 +00:00
cabcda5a96
marginal compiles and runs for frontal node in clique
2009-11-05 06:30:50 +00:00
7f516394df
Added dummy argument to work around compile conundrum
2009-11-05 06:30:10 +00:00
06f07420d1
back()
2009-11-05 06:29:32 +00:00
11fcd5a69d
KISS: just a map of pointers in BayesTree now
2009-11-05 05:29:47 +00:00
3d334401f5
Constructor from BayesNet now in FactorGraph base class
...
FactorGraph::eliminate
Removed eliminate_partially
2009-11-05 04:56:59 +00:00
e650676da7
Moved header to .h to fix MATLAB toolbox compilation
2009-11-05 03:51:08 +00:00
3b258be8c4
about a dozen changes to make Matlab toolbox work again, but one error remains having to do with the forward declaration of class GaussianBayesNet.
2009-11-05 03:26:04 +00:00
Frank Dellaert
Michael Kaess
Richard Roberts
justinca
Alex Cunningham
Viorela Ila
Manohar Paluri
Chris Beall
Eohan George
Kai Ni