5ef0400e06
put Factorization class in its own file, and added checks in constructors that take shared pointers, so we get some more meaningful output rather than *segmentation error*
2010-03-05 15:09:09 +00:00
fccbaa2d6f
right folders
2010-03-05 05:41:21 +00:00
45b2eef13f
Adjoint
2010-03-05 03:02:23 +00:00
abf7758374
now datasets are in CitySALM/data/XXXX/xxxx.graph
2010-03-05 02:58:59 +00:00
43df7375c0
add helper functions
2010-03-05 00:55:36 +00:00
d0d2aa8aee
added erase method
2010-03-04 23:39:36 +00:00
d6c2b415a5
Added a check to NonlinearOptimizer to short circuit optimization if the initial error is below the absolute threshold.
2010-03-04 22:46:27 +00:00
4ae9b72a35
Commented marginalGaussian() due to compile error
2010-03-04 22:40:01 +00:00
5f8b0e9341
Added marginalGaussian to get a marginal on a single variable from a GaussianFactorGraph
2010-03-04 22:03:40 +00:00
badc7b6ee6
Added keys() function to LieConfig to return an ordered list of keys
2010-03-04 13:21:48 +00:00
b9045528ee
no more normalize. in compose?
...
Also moved constructors around, one inline in h, others to cpp
2010-03-03 05:35:00 +00:00
c9fcf95501
fixed some issues in SE(2) "branch"
2010-03-03 05:34:08 +00:00
707627fb3a
Rot2 "named constructors" ( http://www.parashift.com/c++-faq-lite/ctors.html#faq-10.8 ):
...
/** Named constructor from angle == exponential map at identity */
static Rot2 fromAngle(double theta) { return Rot2(cos(theta),sin(theta));}
/** Named constructor from cos(theta),sin(theta) pair, will *not* normalize! */
static Rot2 fromCosSin(double c, double s);
/** Named constructor that behaves as atan2, i.e., y,x order (!) and normalizes */
static Rot2 atan2(double y, double x);
which are a bit more verbose, but at least won't cause hours of bug-tracking :-(
I also made most compose, inverse, and rotate functions into methods, with the global functions mostly calling the methods. Methods have privileged access to members and hence are typically much more readable.
2010-03-03 03:31:53 +00:00
85fe43949d
arithmetic tests
2010-03-03 02:50:49 +00:00
eec6017b12
scalar multiplication
2010-03-03 02:49:06 +00:00
23986349de
added measured function
2010-03-02 21:43:39 +00:00
190e87afb9
Correct exmap is indeed correct, but derivatives *still* do not check out. I'm starting to suspect numericalDerivative.
2010-03-02 17:56:26 +00:00
32beb8c712
more refactoring, use different Rot3 constructor so no confusion
2010-03-02 06:16:11 +00:00
680a6a28c1
added begin and end iterators
2010-03-02 06:07:46 +00:00
33c6c51658
refactored and thoroughly checked rodrgues, added two more unit test
2010-03-02 05:45:19 +00:00
f956bae6a4
combined version only
2010-03-02 02:27:09 +00:00
1093317fdc
wedge
2010-03-02 02:25:27 +00:00
c62ebe3ea8
exponential map approximation
2010-03-02 02:24:38 +00:00
20ac6b85c8
Added static dim() functions to remaining geometry types so that dimensions can be calculated on size alone.
2010-03-01 21:56:13 +00:00
e670e00e3b
added const Tensor3expression
2010-03-01 18:08:18 +00:00
8bf8e4dc1f
added operator() to change values
2010-03-01 18:07:18 +00:00
6073bdb679
made the function const
2010-03-01 18:05:24 +00:00
a46dc4cea0
Added threshold for lambda in NonlinearOptimizer so that if lambda has gotten unreasonably large, optimization will throw a runtime exception to prevent infinite loops where lambda goes to infinity.
2010-03-01 16:31:05 +00:00
d9c185498e
combined a few arithmetic tests
2010-03-01 01:38:26 +00:00
4cb59438f7
documentation
2010-03-01 01:37:50 +00:00
619190a818
new-style combined unrotate
2010-03-01 01:36:27 +00:00
20ad08e48f
new Pose3 derivatives still don't work :-(
2010-03-01 01:35:33 +00:00
b943644ddd
re-factored so corresponds to math.lyx
2010-03-01 01:33:45 +00:00
6e03783465
negation
2010-03-01 01:30:15 +00:00
28f4493a2b
Now uses Adjoint map for derivatives of inverse/compose/between, see doc/math.pdf
2010-02-28 09:10:39 +00:00
98aa08bcd0
Re-use memory
2010-02-28 09:09:37 +00:00
85784400c6
prototype object map
2010-02-28 09:09:12 +00:00
dcfe52dae7
some renaming of variables
2010-02-28 09:08:47 +00:00
b58f7b8ea7
the derivative for transform_from
2010-02-28 08:51:43 +00:00
d894e23a06
assert_equal for a list of matrices
2010-02-28 00:48:42 +00:00
4604cbce05
svd now handles m < n cases. Added unit tests to verify this. But svd in place will throw an exception for such cases.
2010-02-27 18:23:34 +00:00
5e00c58ea7
Baker–Campbell–Hausdorff formula: in non-commutative Lie groups, when composing exp(Z) = exp(X)exp(Y) it is not true that Z = X+Y. Instead, Z can be calculated using the BCH formula:
...
Z = X + Y + [X,Y]/2 + [X-Y,[X,Y]]/12 - [Y,[X,[X,Y]]]/24 + ...
See http://en.wikipedia.org/wiki/Baker–Campbell–Hausdorff_formula
2010-02-27 14:58:54 +00:00
67b4834bdb
someone forgot to return it
2010-02-27 00:04:51 +00:00
b6599ebdce
readst the tree files
2010-02-26 22:23:00 +00:00
9941b28128
Fix matrix inverse square root so it, once again, returns an upper triangular matrix
2010-02-26 18:53:41 +00:00
940202226b
added #pragma
2010-02-26 14:45:17 +00:00
d21ff82d21
Kruskal skeleton
2010-02-26 13:31:38 +00:00
87c8465315
the beautiful Jacobian of compose in pose2
2010-02-26 10:55:41 +00:00
c40760485d
I think we might have a problem: is expmap<Pose2> correct? Uncomment the new test in testPose2. It does not match what is said in http://www.cis.upenn.edu/~cis610/cis610lie1.ps .
2010-02-26 06:00:58 +00:00
0004d90feb
formatting only
2010-02-26 05:30:02 +00:00
38ed1a5cdd
more compulsive checking, more efficient removing
2010-02-26 05:29:45 +00:00
73848d9e0e
added comments to make people realize it is for the matlab wrapper not actually c++ implementation
2010-02-26 05:05:05 +00:00
7e8aa6e6b9
add unit test for the constructor
2010-02-26 05:04:03 +00:00
5e97d07f5e
*it is already the right type
2010-02-26 04:03:56 +00:00
0a33b50554
use Matrix.resize
2010-02-26 04:03:31 +00:00
17bd59ec80
only call alpha calls if CBLAS version will be called.
2010-02-26 03:23:48 +00:00
044ea1348d
Modernized/refactored, esp. with regards to map insert and iterating.
2010-02-26 03:20:15 +00:00
9d704bb977
Added flag to default Factorization for old or new elimination, defaulting to old code.
2010-02-25 21:07:35 +00:00
5b60511505
Reverted default elimination code to older implementation - use switch in optimize() or eliminate() to use newer code.
2010-02-25 20:43:59 +00:00
c56ee9ea0d
added a new constructor that takes a list
2010-02-25 08:16:33 +00:00
74787df3fc
Added ability to insert whole configs at a time to LieConfig and TupleConfig
2010-02-25 02:50:01 +00:00
93a3f48920
Created patch to camera homography function with Duy
2010-02-25 00:05:27 +00:00
9955ea20bd
Added pure cblas implementation of multiplyAdd functions. This does not have autotools support yet, so to enable, goto cpp/Makefile.am, comment out the block concerning GSL/ATLAS, and uncomment the above section enabling just blas.
2010-02-24 18:12:48 +00:00
f8c4e1fe27
Fixed bug in unit test causing crashes, altered corner case test for column insertion
2010-02-24 18:09:15 +00:00
022f706d94
Changed default elimination algorithm to newer one with fewer matrix allocations to solve crashing bug from LM discovered in MAST
2010-02-24 14:19:52 +00:00
04f7bbf253
use vector_scale_inplace
2010-02-24 06:15:06 +00:00
696be0d0c1
RETURN CONST REFERENCES WHERE YOU CAN and some inlining
2010-02-24 06:14:43 +00:00
dd9446993a
5-fold performance improvement in combined between function
2010-02-24 06:14:02 +00:00
51281ea78f
in-place colamd
2010-02-24 06:13:11 +00:00
71089a6354
vector_scale_inplace
2010-02-24 06:12:56 +00:00
c1f50a0637
fixed noise model, removed istringstream and getline in favor of ignore
2010-02-24 06:11:52 +00:00
547427514f
add save functions for Matrix and Vector to save them to disk
2010-02-24 00:12:10 +00:00
ac41ee7215
Added a test in GaussianFactor to demo a problem found in MAST where eliminating a single factor with two priors causes a memory corruption error. To run the test and see the error, go to the last test in testGaussianFactor called "exploding_MAST_factor" and uncomment the indicated line.
2010-02-23 18:41:07 +00:00
a2310b4eab
Fixed small error in NonlinearConstraint and added note explaining why nonlinear constraints do not use a constrained noisemodel in the nonlinear sense.
2010-02-23 18:37:17 +00:00
032c8887d6
added point-point-point check
2010-02-23 13:14:07 +00:00
5594d162a2
allocate noise model once
2010-02-23 05:28:39 +00:00
3ae81002be
fixed the unit tests
2010-02-23 05:23:15 +00:00
8900a37d93
removed unncessary prints
2010-02-23 05:08:42 +00:00
a178023a27
Fixed christian01 example, polluting gtsam with extra header files for MATLAB. Need to look for a better solution.
2010-02-23 05:06:16 +00:00
443d304a7c
Added another TrifocalTensor estimation test
2010-02-22 21:45:15 +00:00
fbbdd0be3e
Fixed error calculation with NonlinearConstraints - now use Unit noisemodels in NonlinearConstraint to prevent having the error forced to infinity
2010-02-22 21:11:22 +00:00
ee9205f0fa
uncommented unit tests
2010-02-22 16:43:40 +00:00
65cbff6af6
added unit tests
2010-02-22 06:42:58 +00:00
6ea8a22958
Fixed two unit tests in MATLAB, needed some small changes in C++ as well
2010-02-21 23:50:28 +00:00
694f6e4219
linearize now always returns a shared pointer
2010-02-21 21:17:47 +00:00
517c82f62f
Small details, like using a reference in FOREACH
2010-02-21 17:06:11 +00:00
fe4471930f
avoid keys() call to known set of keys
2010-02-21 15:24:05 +00:00
190ec53a63
use ifdef
2010-02-21 15:23:27 +00:00
7f1c3f9952
fixed a bug
2010-02-21 04:51:42 +00:00
274265a401
Errors:axpy and testErrors
2010-02-21 00:01:43 +00:00
5b6af9e4bd
1.0 versions of BLAS level 2
2010-02-20 23:44:07 +00:00
ac316f2d56
formatting only
2010-02-20 23:43:41 +00:00
75b35949c9
Fixed several unit test main() functions that were returning 0 instead of the result of runAllTests. This caused unit tests to print failures but not count as failures in the pass/fail counts. In CMake projects, since test output is logged to a file instead of printed, this caused no indication of failures when they occured! All tests still pass with no other modifications after fixing this.
2010-02-20 22:22:45 +00:00
1949a992cd
define two additional types
2010-02-20 00:28:10 +00:00
689b9fefc0
throw exceptions instead of crashing
2010-02-19 22:44:45 +00:00
d0ce5d36da
created addPrior
2010-02-19 02:48:47 +00:00
e60d903210
removed extra quotes
2010-02-18 23:31:23 +00:00
2bf4c0ce5b
Fixed two bugs, both related to array overflow
2010-02-18 22:52:49 +00:00
c26219e3d4
Added Pose2::matrix() function.
2010-02-18 16:27:01 +00:00
cd5c281c76
Added get and set
2010-02-18 14:30:16 +00:00
Frank Dellaert
Viorela Ila
Yong-Dian Jian
Kai Ni
Alex Cunningham
Richard Roberts
Manohar Paluri
justinca