68e20eec2c
2 BIG changes:
...
(1) FactorGraph and NonlinearOptimizer now no longer have a .cpp file, but a -inl.h file as in [http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml Google's C++ Style Guide]. This means if you expect to instantiate one of the functions in a cpp file, you have to include the -inl.h file.
(1) getOrdering is now in FactorGraph, and the non-linear version does *not* take a config anymore.
Long version: I made this change because colamd works on the graph structure alone, and should not depend on the type of graph. Instead, because getOrdering happened to implemented in LinearFactorGraph first, the non-linear version converted to a linear factor graph (at the cost of an unnecessary linearization), and then threw all that away to call colamd. To implement this in a key-neutral way (a hidden agenda), i had to modify the keys_ type to a list, so a lot of changes resulted from that.
2009-09-13 04:13:03 +00:00
d141cdab8c
rolling back + operator overload for scalars ( Not approved by FD )
2009-09-13 03:43:15 +00:00
bc93a9c314
overloaded + operator for scalar
2009-09-12 21:52:13 +00:00
7b0c69da2d
getOrdering uses [keys] now
2009-09-12 04:15:41 +00:00
14102e259e
new method [keys]
2009-09-12 03:50:44 +00:00
78ac705d05
Isolated main colamd call in function templated on key type.
2009-09-12 03:38:55 +00:00
a5ae9c12ef
re-factored and commented getOrdering
2009-09-12 01:50:47 +00:00
597af891cb
add comments
2009-09-11 20:51:49 +00:00
bc7717d5ab
Forward declarations and comments
2009-09-11 20:51:03 +00:00
49e6e0c63f
Add operator /
2009-09-11 20:49:28 +00:00
b76a029ad8
Added principalPoint
2009-09-11 20:48:02 +00:00
0ac12dfcbf
changed config() to const
2009-09-11 18:33:05 +00:00
5e713551b3
get it run on the mac
2009-09-10 22:50:06 +00:00
65df85125d
Fixed NonlinearOptimizer to return a shared pointer to a config
2009-09-10 22:08:47 +00:00
5e1c719c17
the getConfig function is so dangerous and it should not exist...
2009-09-10 20:32:27 +00:00
ead3d03866
BIG: replaced optimize in NonlinearFactorGraph with specialized NonlinearOptimizer object. This does away with the artificial ErrorVectorConfig and the like as NonlinearOptimizer is templated and can use "exmap", the exponential map defined for any differentiable manifold.
2009-09-09 04:43:04 +00:00
ff12101945
serialization
2009-09-07 04:19:03 +00:00
5ca7ab9053
equals
2009-09-07 03:35:32 +00:00
ff9a89c81b
unit tests in meter
2009-09-05 20:35:09 +00:00
482d7fe73f
exposed two internal functions
2009-09-04 14:59:17 +00:00
ba676a7a95
removed a printing thing
2009-09-03 18:11:26 +00:00
214637cee9
fixed rodriguez in Rot3
2009-09-03 17:43:02 +00:00
012437c573
keys now returns const references
2009-09-03 17:24:46 +00:00
2357e8aefc
There was a serious mistake in rodriguez, instead of R was returning R'
2009-09-03 17:08:52 +00:00
24c8242782
added print as virtual method
2009-09-03 16:51:31 +00:00
0c590c513e
enable debug options
2009-09-03 15:15:20 +00:00
5d41f5bdfa
Calibration load gone, now constructor takes path
2009-09-01 15:09:41 +00:00
f7bcb8dad7
add comments
2009-09-01 03:45:37 +00:00
07f940be57
add -g to unit tests
2009-09-01 03:32:11 +00:00
92dbc8910e
correct serialization of base classes
...
moved all serialize functions to bottom of class declaration
2009-08-31 04:13:57 +00:00
c69d8d9b36
Factor Graph serialization, and renaming of factors -> factors_
2009-08-31 02:40:26 +00:00
00fd3cebcf
changed const string to const string & in load
2009-08-30 21:49:48 +00:00
adabafa9f0
changed load function argument to const
2009-08-30 06:34:43 +00:00
34d80b6a2b
moved some implementations to cpp to avoid some weird conflict involving stack
2009-08-30 04:51:46 +00:00
6311dd0147
SimpleCamera::level now works
2009-08-29 07:39:20 +00:00
179b5c09ae
static members for creating "level" cameras as we find on idealized robots
2009-08-29 06:54:10 +00:00
5eb9a4d182
More efficient transform_to using unrotate
2009-08-29 04:10:52 +00:00
3432b6c50f
new Pose2 class
2009-08-29 01:24:26 +00:00
6e23d61221
Formatting, and moved print to cpp.
2009-08-29 01:22:40 +00:00
ea0e16caf5
Formatting only
2009-08-29 01:22:37 +00:00
8d54086f92
const begin and end
2009-08-28 20:06:29 +00:00
fe8870a5f0
changed functions begin, end and get_names to const
2009-08-28 15:38:27 +00:00
e2a05b37d8
changed parameter to const in function eq_combine_and_eliminate
2009-08-28 15:15:05 +00:00
1ce50a8258
changed get_delta to const ( using find operator of a map instead of [] )
2009-08-28 14:55:33 +00:00
017ad6a66f
error checking for find operation on map
2009-08-28 14:35:02 +00:00
b530c97b08
error checking for find operation on map
2009-08-28 14:33:19 +00:00
630bc9144f
changed get and operator functions to const ( using find operator of a map instead of [] )
2009-08-27 20:04:10 +00:00
b70f081ebc
changed optimize functions to const ( using find operator of a map instead of [] )
2009-08-27 02:00:26 +00:00
af6d98253f
solve is now const
2009-08-27 01:23:05 +00:00
6a3d64c896
Added const verifiers for member functions of the class which are compatible
2009-08-26 18:04:52 +00:00
0b1b5eca67
Added const verifiers for member functions of the class which are compatible
2009-08-26 15:25:47 +00:00
725f5624c3
Added Serialization to Cal3_S2
2009-08-25 14:58:40 +00:00
6e35e34ee4
const return value does not make sense for anything but references
2009-08-25 02:36:30 +00:00
b8a5501670
A much more clean fix for colamd and cppunitlite compilation problem.
2009-08-24 21:55:36 +00:00
f6da0bf0cb
fix include files not installed problem
2009-08-24 20:06:42 +00:00
72fbc569a5
const correctness for combine (it is not const but takes a const argument)
2009-08-24 16:54:22 +00:00
6dd31fd8c3
getOrdering is const !!!! It matters !
2009-08-23 06:56:54 +00:00
fd11a1e2c7
Changed setBCN to take a reference
2009-08-22 22:01:17 +00:00
5780b39816
Complete - # 3: Fix gtsam colamd problem
...
http://trac.research.cc.gatech.edu/borg/ticket/3
2009-08-22 07:00:11 +00:00
d80fa24a9f
Fixing directory structure
2009-08-21 22:23:24 +00:00
Frank Dellaert
Manohar Paluri
Kai Ni
Alireza Fathi
Alex Cunningham
Richard Roberts