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
...
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
Kai Ni
Frank Dellaert
John Rogers
Richard Roberts
Manohar Paluri
Viorela Ila