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16563 Commits (5d9b0cfe5db069cb1564c154d8b83152527172cc)

Author SHA1 Message Date
Alex Cunningham 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
Michael Kaess 4ca1dbf325 generalized most of the update algorithm 2009-11-19 23:25:03 +00:00
Alex Cunningham 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
Frank Dellaert 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
Frank Dellaert 8d8503bd99 constructor with three parents 2009-11-19 06:34:28 +00:00
Frank Dellaert b2eee54b5a push_back an entire factor graph 2009-11-19 06:34:07 +00:00
Frank Dellaert e2a3d1cb8f Fixed test 2009-11-19 04:52:46 +00:00
Alex Cunningham f98f49381a Added an example to testSQP to use for combining graphs 2009-11-18 21:57:59 +00:00
Alex Cunningham d700cd2cac Made some small changes to testSQP to simplify the system and improve convergence. 2009-11-18 20:23:07 +00:00
Alex Cunningham 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
Frank Dellaert 76d0a60b88 commented out all print statements 2009-11-18 18:22:08 +00:00
Frank Dellaert f40182518a size() now returns correct nr. of cliques, not number of keys 2009-11-18 18:05:12 +00:00
Michael Kaess d0efe2da5e update almost correct, except for order 2009-11-18 17:40:05 +00:00
Frank Dellaert 23031fbc04 convert clique into factor graph 2009-11-18 17:28:07 +00:00
Frank Dellaert 1edcdb6f80 added SymbolicFactor constructor that takes a SymbolicConditional 2009-11-18 17:27:27 +00:00
Frank Dellaert c7e76891da skeleton hardcoded version 2009-11-18 17:03:19 +00:00
Frank Dellaert bed219c997 no printout 2009-11-18 16:32:45 +00:00
Frank Dellaert 21974f95e1 test for incremental update 2009-11-18 16:31:19 +00:00
Frank Dellaert bef2efacb7 fixed equals 2009-11-18 16:30:57 +00:00
Frank Dellaert ceed2ae17d symbolic tree in testIncremental 2009-11-18 15:37:19 +00:00
Michael Kaess f56bf8c79f added missing include to satisfy stricter compiler; added isam test file 2009-11-17 21:47:42 +00:00
Chris Beall 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
Manohar Paluri 0115b58bad added testSQP binary to ignore list 2009-11-17 01:20:33 +00:00
Manohar Paluri e4eaae4605 Added equals function and serialization capability 2009-11-17 01:19:55 +00:00
Manohar Paluri d24846d9a0 fixed errors due to shared pointer change in VSLAMFactor 2009-11-17 01:02:55 +00:00
Manohar Paluri e312252006 Changed camera matrix to a shared pointer 2009-11-17 00:51:27 +00:00
Manohar Paluri 256c094039 Added default constructor and Serialization 2009-11-16 23:49:04 +00:00
Alex Cunningham 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
Alex Cunningham e549dd5305 Added USAGE file with a short tutorial 
Fixed typo in README
 2009-11-13 14:01:51 +00:00
Frank Dellaert fc440f823b New make targets 2009-11-13 06:20:41 +00:00
Frank Dellaert 27a47c6535 Constructor now takes Point2 2009-11-13 06:19:21 +00:00
Frank Dellaert d5ada2a80c Test now succeeds after adding 3 landmark constraints 
Also cleaned up a bit
 2009-11-13 06:19:08 +00:00
Frank Dellaert d26abf3ccf addLandmarkConstraint 2009-11-13 06:18:27 +00:00
Frank Dellaert 309f2151cf Clean-up 2009-11-13 06:17:59 +00:00
Frank Dellaert fe974a3e72 Rank test needs to be re-thought 2009-11-13 06:17:19 +00:00
Frank Dellaert f5fc14c0f4 Fixed bug in revealing rank, even simpler than before. 2009-11-13 06:16:56 +00:00
Frank Dellaert 7c045a0802 Fixed compile errors due to remaining VectorConfigs, and removed div0 warning 2009-11-13 06:15:48 +00:00
Frank Dellaert 17aaae42d8 Refactoring of weightedPseudoInverse, emul, sum 2009-11-13 06:14:55 +00:00
Frank Dellaert 2178589263 Debug printout and variable names 2009-11-13 06:13:58 +00:00
Alex Cunningham 976b56fd44 Added a config folder to the main gtsam folder to avoid the issue of autogen not creating one on Linux systems. 2009-11-13 02:42:22 +00:00
Alex Cunningham 35bbca7155 Switched make targets to use correct GaussianFactor/Graph 2009-11-13 02:22:50 +00:00
Alex Cunningham 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
Viorela Ila cba4a536bb includes Ordering.h 2009-11-13 01:56:09 +00:00
Frank Dellaert 8bc29cf11b new target 2009-11-12 23:42:38 +00:00
Viorela Ila 199f5935dd update Matlab scripts to work after changes in gtsam 2009-11-12 20:42:01 +00:00
Viorela Ila b43304aff8 update Matlab scripts to work after changes in gtsam 2009-11-12 20:41:05 +00:00
Chris Beall 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
Chris Beall 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
Frank Dellaert 03f865d4b1 Used typedefs with similar naming convention. 2009-11-12 18:33:14 +00:00
Alex Cunningham 5857635ca1 Fixed renaming error with NonlinearFactors sometimes becoming NonGaussianFactors 2009-11-12 16:47:12 +00:00