dellaert
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df91cf7fad
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Made vaguely unsafe keysAndDims private (as it relies on keys and dimensions being in same order), as to not tempt people to use it.
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2014-11-25 12:36:52 +01:00 |
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dellaert
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e0248c3ca7
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Created keysAndDims and safe version of values
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2014-11-25 10:53:34 +01:00 |
|
dellaert
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586ad610f8
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Added more unit tests that expose compilation issue
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2014-11-24 02:15:48 +01:00 |
|
dellaert
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a4fa61a7a4
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Removed JacobianMap tests
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2014-11-01 11:56:38 +01:00 |
|
dellaert
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d0c3bc0c8e
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Fixed tests
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2014-10-31 16:27:54 +01:00 |
|
dellaert
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25ad9ade05
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Moved AdaptAutoDiff into its own test
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2014-10-21 10:42:30 +02:00 |
|
dellaert
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bf16446f92
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Deal with traits changes
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2014-10-21 01:26:17 +02:00 |
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dellaert
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e0841fb3e6
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No more Ceres dependecy, copied relevant Ceres files here (for now)
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2014-10-20 23:53:56 +02:00 |
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dellaert
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bce84ca4db
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Successfully created Expression from AutoDiff function!
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2014-10-20 15:38:27 +02:00 |
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dellaert
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bf5580d518
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AdaptAutoDiff now works with RowMajor Eigen matrices
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2014-10-20 14:39:28 +02:00 |
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dellaert
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df5e584412
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Compiles, but Jacobains not correct yet
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2014-10-20 14:32:20 +02:00 |
|
dellaert
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a423f284e9
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Canonical coordinates prototype, works for Snavely
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2014-10-20 14:23:08 +02:00 |
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dellaert
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821f776118
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Wrapper works to some extent
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2014-10-20 09:43:32 +02:00 |
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dellaert
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7ebc8e969f
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Charts with default constructors
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2014-10-20 09:29:45 +02:00 |
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dellaert
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63ae33088e
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Some success on the way to autodiff
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2014-10-19 23:47:59 +02:00 |
|
dellaert
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eac76cd0f0
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Some progress on defining interface
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2014-10-19 11:18:36 +02:00 |
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dellaert
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6e142184cc
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Implemented is_manifold and dimension for all types in testExpressionFactor
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2014-10-19 00:35:25 +02:00 |
|
dellaert
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d436d99146
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Moved stuff to Manifold.h
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2014-10-18 23:25:25 +02:00 |
|
dellaert
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fcda501ee2
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double as manifold. No more LieScalar !
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2014-10-18 18:13:33 +02:00 |
|
dellaert
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ed6a2b6eff
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Charts !!!!
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2014-10-18 17:11:28 +02:00 |
|
dellaert
|
9c97b1d8a0
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Some more refactoring
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2014-10-18 16:45:04 +02:00 |
|
dellaert
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66b3081603
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localCoordinates and retract
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2014-10-18 15:02:22 +02:00 |
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dellaert
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10cfd47404
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TangentVector meta-function
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2014-10-18 14:29:40 +02:00 |
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dellaert
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ec69949f43
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Point2 specialized
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2014-10-18 14:22:01 +02:00 |
|
dellaert
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f08dc6c031
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More boost-style traits
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2014-10-18 14:16:24 +02:00 |
|
dellaert
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4c33444415
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Snavely tested
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2014-10-18 13:16:44 +02:00 |
|
dellaert
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bdf12b14b9
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Add Snavely cost function
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2014-10-18 12:35:02 +02:00 |
|
dellaert
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7018afdd58
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Slight refactor of numerical derivatives
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2014-10-18 12:34:05 +02:00 |
|
dellaert
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2972671064
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Use boost::bind to avoid code duplication
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2014-10-18 12:29:14 +02:00 |
|
dellaert
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db037c96c5
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Implemented manifold_traits to allow numerical derivatives wrpt Matrix arguments
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2014-10-18 12:12:25 +02:00 |
|
dellaert
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2cbba15573
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ceres style functor
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2014-10-18 00:29:18 +02:00 |
|
dellaert
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02d25f6658
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New tests on traceSize
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2014-10-16 15:07:05 +02:00 |
|
dellaert
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0bcca2c386
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Drastic reduction in allocations at ExpressionFactor construction by having dims constructed imperatively, and using it for both keys_ and dimensions_
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2014-10-16 14:16:58 +02:00 |
|
dellaert
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79ff0c54f9
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createUnknowns
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2014-10-15 10:38:54 +02:00 |
|
dellaert
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c971207abf
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Switched to vector for dimensions
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2014-10-14 17:16:31 +02:00 |
|
dellaert
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1c3f328fb2
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Successful switch to Blocks !
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2014-10-14 15:43:41 +02:00 |
|
dellaert
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d8d94d0c34
|
dimensions implemented and tested
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2014-10-14 09:53:47 +02:00 |
|
dellaert
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107bcd8bb4
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Going forwards, we default to reverse :-)
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2014-10-12 22:04:40 +02:00 |
|
dellaert
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4d1eb05c7d
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Passing JacobianMap as an argument now..
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2014-10-12 20:16:08 +02:00 |
|
dellaert
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a2d2d82e0e
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some namespace management
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2014-10-11 07:39:13 +02:00 |
|
dellaert
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563c4d214c
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Renamed BADFactor -> ExpressionFactor
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2014-10-09 13:00:56 +02:00 |
|
dellaert
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9ebe1e6d10
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Super-speedup by specializing to 2-dimensional output (for now). Using some template magic.
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2014-10-08 23:50:17 +02:00 |
|
dellaert
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e4392c0a3b
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JacobianTrace no longer templated
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2014-10-07 16:11:55 +02:00 |
|
dellaert
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613cb0bb12
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Binary functions now take fixed Jacobians
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2014-10-07 01:01:46 +02:00 |
Sungtae An
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0a7db2d252
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Merge remote-tracking branch 'origin/feature/BAD' into feature/BAD
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2014-10-05 16:16:19 -04:00 |
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Sungtae An
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40565564f5
|
TernaryExpression is added
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2014-10-05 16:09:24 -04:00 |
|
dellaert
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8e527a2251
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Binary Trace compiles, runs
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2014-10-05 13:27:41 +02:00 |
|
dellaert
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303d37a716
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Separate hierarchy
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2014-10-05 11:22:14 +02:00 |
|
dellaert
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987b123ec9
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NullaryMethodExpression and UnaryFunctionExpression, derived from UnaryExpression
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2014-10-03 12:40:26 +02:00 |
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dellaert
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aefad1e548
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MAJOR refactor: I now use separate functions for value (only) and "augmented", for combined value-derivatives. The latter returns a new templated class, Augmented<T>.
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2014-10-03 10:25:02 +02:00 |