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Author SHA1 Message Date
Michael Bosse 63ef77156e Fix LM linearizedCostChange for robust noise models 
When robust noise models are used, the linearized error is not
the same as the nonlinear error even at zero delta.

In the L2 loss case, the rho(error) = 0.5 * error^2
which is the same as 0.5 *(sqrt(weight)*error)^2
since weight is always 1.0;

However this is not the case with other loss functions since in general,
rho(error) != 0.5 * weight * error^2

This PR fixes the LevenbergMarquardtOptimizer to explicityly compute
the linear cost change.
 2019-12-17 11:16:33 -08:00
Frank Dellaert 7c255010e4
Merge pull request #194 from borglab/fix/msvc-link-errors 
Fix MSVC link errors (missing DLLEXPORTs)
 2019-12-16 13:32:45 -05:00
Jose Luis Blanco-Claraco fb05fa6bd7
Fix MSVC link errors (missing DLLEXPORTs) 2019-12-15 09:13:53 +01:00
Jose Luis Blanco-Claraco ecd65b1ad9
Merge pull request #186 from borglab/fix/tbb-hash-32bit 
Fix broken 64bit hash in tbb in 32bit builds
 2019-12-14 00:04:48 +01:00
Jose Luis Blanco-Claraco d0971104ce
Fix broken 64bit hash in tbb 
Fixes #181
 2019-12-13 20:39:26 +01:00
Jose Luis Blanco-Claraco 8ca7773e50
Merge pull request #189 from borglab/fix/newer-clang 
Travis: upgrade to use clang-9
 2019-12-13 06:15:23 +01:00
Jose Luis Blanco-Claraco 087221ac95
travis: use clang-9 2019-12-12 23:23:16 +01:00
Chris Beall 60d820e042
Merge pull request #185 from borglab/fix/eigen-alignment-expression-and-rotate-factor 
Eigen alignment fix in ExpressionNode and RotateFactor
 2019-12-08 13:57:32 -08:00
chrisbeall 7fa705e609 Eigen alignment fix in ExpressionNode and RotateFactor 2019-12-07 14:07:56 -08:00
Varun Agrawal 823de027ad
Merge pull request #176 from borglab/cmake-gtsamprinting 
Install GtsamPrinting.cmake
 2019-12-04 11:38:10 -05:00
Varun Agrawal c7111dbbd3 install GtsamPrinting.cmake as part of installation 2019-12-03 15:42:21 -05:00
Jose Luis Blanco-Claraco 685b820d5a
Merge pull request #175 from borglab/fix/ros-package-xml 
Fix/ros package xml
 2019-12-03 17:57:07 +01:00
Jose Luis Blanco Claraco ef72e798c4
Merge branch 'ruffsl-patch-1' into fix/ros-package-xml 2019-12-03 13:44:22 +01:00
Jose Luis Blanco Claraco 044582ca4a
also update gtsam version in ROS package.xml 2019-12-03 13:41:37 +01:00
Frank Dellaert 7b80ffa18b
Merge pull request #169 from lsolanka/fix-absolute-includes-develop 
Make include_directories relative for install interface
 2019-12-01 16:34:42 -05:00
Frank Dellaert e354966120
Merge pull request #167 from michaelbosse/expose_unweighted_residuals 
Expose unweighted residuals
 2019-12-01 16:31:45 -05:00
Jose Luis Blanco Claraco 65aaaaadc9
Merge branch 'patch-2' of ssh://github.com/ruffsl/gtsam into ruffsl-patch-1 2019-11-28 06:30:02 +01:00
Frank Dellaert fa5248e536
Merge pull request #166 from borglab/gchenfc-patch-1 
Fix doxygen "Creating a new factor"
 2019-11-27 16:39:24 -05:00
Michael Bosse 516ccf532c Improve numerical precision of residual functions 2019-11-27 13:17:59 -08:00
Frank Dellaert fb4dc7ccb9
Trigger travis 2019-11-26 16:48:28 -08:00
Frank Dellaert e90e1f1dd2
Merge pull request #174 from baladeer/cli/numericalDerivativeForSixArgumentFunction 
compute numerical derivative for 6-argument function
 2019-11-26 00:56:29 -05:00
Cong Li 9b402e478c compute numerical derivative for 6-argument function and add test code for this, also fix bugs in computing numerical derivative in 5-argument function 2019-11-25 14:49:40 -08:00
Ruffin 13250d5bd7
Include build dependencies 2019-11-24 13:50:21 -08:00
Chris Beall ed62785a07
Merge pull request #172 from erik-nelson/erik/make_attitude_factor_copy_and_move_assignable 
Make AttitudeFactor copy and move assignable.
 2019-11-22 20:53:57 -08:00
Chris Beall 55d3dce567
Merge pull request #171 from erik-nelson/erik/add_missing_boost_dep 
Add missing boost::shared_ptr include to Values.h
 2019-11-22 18:23:30 -08:00
Frank Dellaert 6c00e0378d
Merge pull request #170 from erik-nelson/erik/fix_optimizer_infinite_loop 
Fix potential infinite loop in GTSAM's nonlinear optimizer.
 2019-11-22 19:50:54 -05:00
Erik Nelson 3f064894c4 Explicitly check for copy and move assignable 2019-11-22 13:59:23 -08:00
Erik Nelson cb5de5be58 Add unit tests 2019-11-22 13:41:55 -08:00
Erik Nelson 660234e4ad Make attitude factor copy and move assignable 2019-11-22 13:39:09 -08:00
Erik Nelson 30a139c118 Add missing boost::shared_ptr include to Values.h 2019-11-22 13:18:53 -08:00
Erik Nelson 041c4518bf Fix an infinite loop in GTSAM's nonlinear optimizer 2019-11-22 13:04:48 -08:00
Lukas Solanka 8fe8435136 make include_directories relative for install interface 2019-11-19 11:57:42 +01:00
Frank Dellaert eafc3794b4
Merge pull request #164 from borglab/fix/debian-dependencies 
Fix broken dependencies in Debian packages
 2019-11-17 12:06:39 -05:00
Mike Sheffler 999d14552e
Merge pull request #144 from borglab/add-fPIC-flag 
Use -fPIC flag when building gtsam libraries (gcc/clang)
 2019-11-14 13:50:57 -08:00
Michael Bosse 8cdb009af9 missing iosteam header include 2019-11-13 13:13:48 -08:00
Fan Jiang ed7f949385
Merge pull request #156 from borglab/fix/boost-optional 
boost::optional<const Ordering &>
 2019-11-13 14:32:07 -05:00
Gerry Chen 96f90c3f13
Fix doxygen "Creating a new factor" 
I think NonlinearFactor1, NonlinearFactor2, ... is supposed to say NoiseModelFactor1, NoiseModelFactor2, ...
 2019-11-12 19:16:34 -05:00
Francesco Papi 92008c9319 Add functionalities to get introspection of the loss function weights and unweighted residuals for the NoiseModelFactor class 2019-11-12 15:39:56 -08:00
Francesco Papi 73542d980a Move mEstimator into separate file 2019-11-12 14:33:56 -08:00
Jose Luis Blanco Claraco 99856befce
Use gcc -fPIC flag when building gtsam libraries 
This flag is required to ensure proper code generation for shared
libraries.
 2019-11-11 23:22:17 +01:00
Jose Luis Blanco-Claraco 3135cd6623
Fix broken dependencies in Debian packages 2019-11-11 08:34:52 +01:00
Frank Dellaert 4ac78953ae
Merge pull request #163 from michaelbosse/fix/variable_slots_bug 
Fix bug when constructing VariableSlots
 2019-11-10 13:42:17 +08:00
Michael Bosse fab3b01756 updates from code review 2019-11-09 19:49:59 -08:00
Mike Bosse 8572cd17ad Fix bug when constructing VariableSlots 
from a GaussianFactorGraph that has null factors.
 2019-11-09 17:05:42 -08:00
Gerry Chen e40a500859 Update test cases for new preferred syntax 2019-10-28 17:43:56 -04:00
Gerry Chen 8e62a1405e deprecated functions for backwards compatibility 
also removed some edits that were tangential to the PR.
 2019-10-28 17:41:16 -04:00
Frank Dellaert 0f790e8644
Merge pull request #155 from borglab/feature/exposeGPSFactor 
expose GPSFactor in python wrapper, and add example for it
 2019-10-21 08:19:57 +02:00
Frank Dellaert 867a23d877
Merge pull request #157 from borglab/enhancement/upgradeCOLAMD 
upgrade colamd to suite-sparse-5.4.0
 2019-10-21 08:18:28 +02:00
Gerry Chen 4877bdb4f3 Caught some stragglers using boost::optional<Ordering> 2019-10-20 03:20:14 -04:00
Gerry Chen 1733f3ac98 convert all optional Ordering to function overloads 
compiles and passes tests, but some potentially code-breaking changes in:
Marginals.h - order of arguments had to change since `factorization` has a default value
EliminatableFactorGraph.h - marginalMultifrontalBayesNet and marginalMultifrontalBayesTree no longer accept `boost::none` as a placeholder to specify later arguments
Notes:
EliminateableFactorGraph.h - `orderingType` is no longer needed in function overloads that specify ordering, but I left it for the time being to avoid potential code breaking
 2019-10-20 01:15:20 -04:00