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3153 Commits (6fd2ac7f86f99fbf58d7fdbeea9a60332bbd8f4c)

Author SHA1 Message Date
Richard Roberts d0211bb031 Simplifying code and minor restructuring to support SPCG - removed update functions so NLO is now completely immutable, moved ordering to parameters, added SuccessiveLinearizationOptimizer base class that will do direct and iterative linear solving, with derived classes for GN, LM, DL. This structure will allow us to later add a new NLO subclass for nonlinear gradient descent methods. 2012-04-04 23:20:42 +00:00
Richard Roberts 14d20cff0b Bug fix when getting nonlinear error debug statistics 2012-04-03 23:20:03 +00:00
Richard Roberts 7226f910bb Bug fix when relinearizing on first step in iSAM2 2012-04-03 22:06:06 +00:00
Richard Roberts 8cd7662dab Removed commented code 2012-04-02 20:43:34 +00:00
Stephen Williams ee532f2b1f Included the inline header at the end of the standard header 2012-04-02 20:17:15 +00:00
Stephen Williams ad4ca799d8 Added message to out-of-range exceptions 2012-04-02 20:14:33 +00:00
Stephen Williams 293592e91b Included the inline header at the end of the standard header 2012-04-02 20:10:24 +00:00
Stephen Williams 829b2a7ffc Changed CCOLAMD parameters to examine all entries instead of pushing variables with many factors to the end of the ordering. 2012-04-02 20:08:51 +00:00
Stephen Williams 36c921bb9f Reordered gradient calculation to improve computation performance 2012-04-02 20:06:00 +00:00
Stephen Williams 4d9542dc70 Fixed compile warning 2012-04-02 20:04:43 +00:00
Richard Roberts 9366136c78 In progress - making NLO interface less confusing / error prone with a separate "state" class. Refactoring in NLO to reduce amount of code and remove code duplication. 2012-04-02 00:26:42 +00:00
Alex Cunningham 204b36fc05 Changes to make ROS hooks work with cmake 2012-04-01 22:21:07 +00:00
Richard Roberts fdb4138d10 Started NLO state 2012-04-01 20:22:24 +00:00
Richard Roberts 46a1fb1103 Merge remote-tracking branch 'svn/trunk' into NLO 
Conflicts:
	.cproject
 2012-03-31 01:02:45 +00:00
Richard Roberts bc0dfb3f8d Fixed not forcing Debug build if CMAKE_BUILD_TYPE is already set. Added 'None' build type to allow build flags to come entirely from environment variables. 2012-03-31 00:59:49 +00:00
Alex Cunningham 4d4ea69919 updating build docs and comments 2012-03-30 18:14:31 +00:00
Andrew Melim 1ea890f4e5 Fixed testWrap failures with the new wrapper 2012-03-30 18:06:58 +00:00
Andrew Melim 0c1ebb046d Removing print line 2012-03-30 06:19:59 +00:00
Andrew Melim a1da906d33 Memory leak fixed within wrap. Must call 'clear' before 'clear all' and 'clear classes'. Wrap now creates delete_classname files for all wrapped classes. MATLAB classes now derive from the handle superclass. 2012-03-30 05:34:23 +00:00
Alex Cunningham cdbeebaf1d Small changes trying to remove dependency between install and all targets 2012-03-29 20:32:05 +00:00
Alex Cunningham b67707542d Updated CMakeLists to use newer cmake scripts 2012-03-29 18:57:31 +00:00
Alex Cunningham 5e7c28f6a7 Reworked cmake timing generation to use generalized test-adding macro 2012-03-29 18:57:29 +00:00
Alex Cunningham b2bf03d21f Switching cmake macros to more flexible ones - now allows for manual exclusion of tests 2012-03-29 18:57:27 +00:00
Richard Roberts b07d2096c2 Improved NLO documentation 2012-03-28 04:53:16 +00:00
Richard Roberts ba8fb0ba27 iSAM2 factorization parameter to choose LDL or QR 2012-03-27 23:30:19 +00:00
Alex Cunningham 74a5a81745 Updated install instructions for cmake 2012-03-27 18:45:03 +00:00
Richard Roberts aa7eb6306e Unit tests for camera range factors 2012-03-24 20:49:35 +00:00
Richard Roberts df1b9c32c1 Constrain SFM scale with range prior 2012-03-24 19:53:46 +00:00
Richard Roberts 5e6a1836e9 shared_ptr typedef 2012-03-24 19:53:39 +00:00
Richard Roberts daae77771b Changed nonlinear convergence to <= (from <) 2012-03-24 19:53:32 +00:00
Richard Roberts 5be3af8d6d Added ordering accessor 2012-03-24 19:53:25 +00:00
Richard Roberts 7a24e1c940 Updated examples for new NonlinearOptimizer 2012-03-24 19:53:17 +00:00
Richard Roberts 31fe933877 Removed printing 2012-03-24 19:53:07 +00:00
Richard Roberts 3baba11815 Fine-grained ordering constraints in iSAM2 2012-03-24 16:52:55 +00:00
Yong-Dian Jian 51f79e0adf clean/remove redundant file 2012-03-24 00:19:24 +00:00
Richard Roberts 829bb1f8aa Added 'optimized' shortcut function to optimize and return Values directly 2012-03-23 22:43:59 +00:00
Yong-Dian Jian 43fa8faa07 clean redundant header files 2012-03-23 14:36:21 +00:00
Richard Roberts 22ebe16a31 Merge remote-tracking branch 'svn/branches/incremental_dogleg_points_to_merge' into trunk 
Conflicts:
	.cproject
	gtsam/linear/GaussianBayesTree-inl.h
	gtsam/linear/GaussianBayesTree.cpp
	gtsam/linear/GaussianBayesTree.h
	gtsam/nonlinear/DoglegOptimizerImpl.h
	gtsam/nonlinear/GaussianISAM2-inl.h
	gtsam/nonlinear/GaussianISAM2.cpp
	gtsam/nonlinear/GaussianISAM2.h
	gtsam/nonlinear/ISAM2-impl.cpp
	gtsam/nonlinear/ISAM2-inl.h
	gtsam/nonlinear/ISAM2.h
 2012-03-23 04:31:54 +00:00
Richard Roberts d577655f1b Removed problematic 'inline' 2012-03-23 04:05:51 +00:00
Richard Roberts eabcf151e2 Created branch /branches/incremental_dogleg_points_to_merge from /branches/incremental_dogleg_points:9890 2012-03-23 04:05:49 +00:00
Richard Roberts cdd89a43f5 DoglegOptimizer unit tests 2012-03-23 03:43:28 +00:00
Richard Roberts a7f9c861ad Added range functions in cameras (in branch, not tested yet) 2012-03-23 03:39:05 +00:00
Richard Roberts 2df82aab8f Comment fixes in Pose3 2012-03-23 03:39:04 +00:00
Richard Roberts 9bd9e24af8 Fixes in printing 2012-03-23 03:39:02 +00:00
Richard Roberts 4432916745 Put default absolute error tolerance back to 1e-5 2012-03-23 03:39:01 +00:00
Richard Roberts 4205f7d32f Made constructors explicit 2012-03-23 03:39:00 +00:00
Richard Roberts bcd663244a Moved printing to NonlinearOptimizer base class 2012-03-23 03:38:58 +00:00
Richard Roberts 0bd74426ea Added DoglegOptimizer 2012-03-23 03:38:57 +00:00
Richard Roberts be553be4f7 Use GaussianBayesTree typedef 2012-03-23 03:38:55 +00:00
Richard Roberts aedf55bad8 Comment fix 2012-03-23 03:38:53 +00:00