9c9007920a
Changed the interface on Matrix::column() so that it uses the one in our library (now called column_() ) rather than the boost default. Currently, our implementation just uses the boost default, but this may change due to timing results.
2010-01-20 16:08:14 +00:00
f577b27f52
Small optimizations on Matrix::collect(), additional timing capabilities, and now collect() can have dimensions specified to avoid need for lookup.
2010-01-19 21:49:22 +00:00
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
ea14959835
NoiseModel inhertance structure reversed, all constructors protected, new static "factories"
2010-01-17 17:47:23 +00:00
3a83e0678d
KISS refactor of NoiseModel
2010-01-17 00:37:34 +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
c051be9edf
did not compile
2010-01-16 19:35:50 +00:00
f0ae2c064e
Merging in NoiseModel, not yet used though
2010-01-16 18:39:39 +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
15bb00683a
transpose backsubstitute on upper-triangular matrix
2009-12-30 13:20:16 +00:00
c43cd425ab
new back-substitution functions that can do unit triangular solves
2009-12-29 13:59:34 +00:00
2cb52694b5
Multiply with transpose sugar A'*v = A^v
2009-12-25 17:52:58 +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
f51614813e
Improved weighted eliminate to handle arbitrary linear equality constraints
2009-11-11 14:42:09 +00:00
2c37c94b5d
Replaced the householder transform with the weighted system
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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
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removed extraneous print statement in Vector
2009-11-09 16:57:30 +00:00
7ef9ed950b
Improved performance of matrix scaling in LinearFactor::matrix_augmented
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Added matrix scaling functions to scale either the rows or columns by values from a vector
2009-11-06 13:43:39 +00:00
65b949c008
Fixed flaw in pseudoinverse calculation, and updated tests for Matrix and Vector
2009-10-29 20:12:07 +00:00
4c48bb08e1
Vector and Matrix updated with improved weighted householder operations and more tests.
2009-10-29 12:52:27 +00:00
37bc303492
Added weighted Householder transforms that use precisions perform QDR factorization. Functions create a weighted vector pseudoinverse, and then use the pseudoinverse to substitute a solution into system.
2009-10-27 14:21:22 +00:00
d80fa24a9f
Fixing directory structure
2009-08-21 22:23:24 +00:00
Alex Cunningham
Frank Dellaert
Richard Roberts