Alex Cunningham
|
752e812895
|
Fixed a bug in the expm function that assumed a fixed matrix size
|
2011-02-04 03:32:39 +00:00 |
Richard Roberts
|
78b0fa054c
|
Properly handling zero range in Pose2::bearing, Pose2::range, and Rot2::relativeBearing. Also debugging check for normalized matrix in Pose2::between
|
2011-02-04 03:32:27 +00:00 |
|
Richard Roberts
|
62f716002a
|
Further cleanup of fast_pool_allocator
|
2011-02-04 03:10:29 +00:00 |
|
Richard Roberts
|
31ffd3877f
|
Cleaned up use of fast_pool_allocator to gtsam::FastMap, List, and Set instead
|
2011-02-04 02:56:12 +00:00 |
|
Richard Roberts
|
7dac32c53b
|
Fix in debugging code
|
2011-02-04 02:46:23 +00:00 |
|
Richard Roberts
|
b73af0159d
|
Adding debugging code from branch in case problems reoccur, will clean this out in the future because it makes the code ugly
|
2011-02-04 02:40:23 +00:00 |
|
Richard Roberts
|
a67d974254
|
Only check for non-finite values when debugging
|
2011-02-04 02:38:55 +00:00 |
|
Richard Roberts
|
a208515055
|
Made zero thresholds in Cholesky smaller to fix failing unit test
|
2011-02-04 02:38:35 +00:00 |
|
Richard Roberts
|
689adead55
|
Using granular debugging flags, fixed code comment
|
2011-02-04 02:36:14 +00:00 |
|
Richard Roberts
|
161058e402
|
Added debug check for non-finite values and replace memset with std::fill
|
2011-02-04 02:34:03 +00:00 |
|
Richard Roberts
|
f89262bd13
|
Option to use careful Cholesky instead of lapack Cholesky, more debug checks in Cholesky, and addional use of ublas instead of regular blas.
|
2011-02-04 01:05:52 +00:00 |
|
Richard Roberts
|
24fbe9b02b
|
Correct conversion from unsorted HessianFactor (to sorted JacobianFactor) - will soon re-standardize sorting. Also checking for non-finite values in assertInvariants
|
2011-02-04 01:01:29 +00:00 |
|
Richard Roberts
|
9525bd5eb6
|
Removed bad unit test
|
2011-02-04 00:54:31 +00:00 |
|
Richard Roberts
|
d4e248debc
|
Missing include
|
2011-02-04 00:53:00 +00:00 |
|
Richard Roberts
|
21f33d337c
|
Added casting to value type in ValueWithDefault, allows use in 'if' statements, etc. This was needed for the previous check-in of the global debug flags. Also added code comments.
|
2011-02-04 00:51:31 +00:00 |
|
Richard Roberts
|
7cdb9b3564
|
print(Matrix) now formats to allow pasting into C++ code, by including commas and formatting zeros as '0.0'
|
2011-02-04 00:49:20 +00:00 |
|
Richard Roberts
|
3dc36369d9
|
Added a "matrix order" parameter to choleskyCareful so that it can be used to factor the frontal piece in choleskyPartial. choleskyCareful also now returns a bool indicating whether the input matrix is full-rank. Also added an additional Cholesky unit test.
|
2011-02-04 00:47:08 +00:00 |
|
Richard Roberts
|
3d9f7294a9
|
Adding functions to get and set global granular debug flags that can be controlled at runtime, see debug.h.
|
2011-02-04 00:32:30 +00:00 |
|
Richard Roberts
|
62aa7a6681
|
Changed problematic blas call to ublas - was sometimes producing incorrect results but I do not know why :-(
|
2011-02-04 00:00:31 +00:00 |
|
Richard Roberts
|
654f4da4e5
|
Adding build-relwithdebinfo to svn:ignore
|
2011-02-02 23:48:00 +00:00 |
|
Alex Cunningham
|
86c0c06689
|
Added global functions to Lie to allow for template access to full expmap/logmap
|
2011-02-02 06:31:23 +00:00 |
|
Alex Cunningham
|
8398c8a53d
|
Made versions with [expmap|logmap]Full() for Pose2 and Pose3 to allow access to complete expmap functions, while also allowing for the concurrent existence of the approximate expmap for optimization speed
|
2011-02-02 05:17:21 +00:00 |
|
Alex Cunningham
|
37ee4f6cb3
|
Added a test for Ordering, added pop_back() to ordering, made changing the ordering in NonlinearISAM possible
|
2011-02-02 03:50:06 +00:00 |
Frank Dellaert
|
a09a9683f9
|
Added covariance calculation to advanced Planar SLAM example
|
2011-01-30 17:03:21 +00:00 |
|
Frank Dellaert
|
89925d2a71
|
Some formatting and reference to USAGE
|
2011-01-30 16:21:09 +00:00 |
|
Alex Cunningham
|
e4cda1b360
|
Added accessor for NonlinearISAM, comments and whitespace
|
2011-01-29 00:53:15 +00:00 |
|
Richard Roberts
|
d87ffe7ece
|
Bug fix and unit test HessianFactor::CombineAndEliminate when keys are not sorted
|
2011-01-26 22:53:14 +00:00 |
|
Alex Cunningham
|
38324ce080
|
Fixed compilation error due to typename keyword in a cpp file
|
2011-01-26 04:59:24 +00:00 |
|
Richard Roberts
|
8f9542b67d
|
Re-implemented eliminated factor caching needed for ISAM2 (need to move this to the ISAM2 class though, see ticket)
|
2011-01-25 22:30:59 +00:00 |
|
Richard Roberts
|
7b0a63ecd3
|
Fixed type error
|
2011-01-25 22:30:04 +00:00 |
|
Richard Roberts
|
5ffc3fc27e
|
Additional symbolic factor unit test (in conjunction with symbolic elimination fix)
|
2011-01-25 22:29:50 +00:00 |
|
Richard Roberts
|
a14a071310
|
Added check for calling CCOLAMD with zero variables
|
2011-01-25 22:29:16 +00:00 |
|
Richard Roberts
|
6a43f65ac6
|
Fixed key sorting bug in symbolic elimination (still have work to do on key sorting)
|
2011-01-25 22:28:51 +00:00 |
|
Richard Roberts
|
5c293ba2a7
|
Fixed key sorting bug in symbolic elimination (still have work to do on key sorting)
|
2011-01-25 22:28:29 +00:00 |
|
Richard Roberts
|
4880257e69
|
Merging hessianfactor branch, Cholesky is now default and GaussianFactor is virtual (see email to frankcvs)
|
2011-01-20 22:22:00 +00:00 |
|
Alex Cunningham
|
4367a245bd
|
Added unit test for NonlinearISAM with a simple markov chain demo
|
2011-01-20 15:42:11 +00:00 |
|
Richard Roberts
|
9ac20eea8a
|
Made LieValues allow for values to not be on the linear side during expmap
|
2011-01-18 02:40:22 +00:00 |
|
Richard Roberts
|
7bfbb6b829
|
Added derivative version of LieVector::between
|
2011-01-18 02:38:03 +00:00 |
|
Richard Roberts
|
711e8c0a32
|
Fixed NonlinearFactor3 key sorting bug found by Niko Sünderhauf (TU-Chemnitz)
|
2011-01-17 16:48:47 +00:00 |
|
Alex Cunningham
|
9d03789b8b
|
Added unicycle test for expmap of Pose3, and it fails due to wrong expmap
|
2011-01-13 18:23:24 +00:00 |
|
Alex Cunningham
|
120b6878cf
|
Fixed range function for Pose3
|
2011-01-13 17:09:29 +00:00 |
|
Richard Roberts
|
10656d7700
|
No label in toc
|
2011-01-13 17:07:04 +00:00 |
|
Alex Cunningham
|
6348a33165
|
Added range measurement function to Pose3
|
2011-01-12 19:31:04 +00:00 |
|
Richard Roberts
|
bcbc7ac561
|
"back-ported" improved timing statements from hessianfactor branch
|
2011-01-12 03:43:02 +00:00 |
Kai Ni
|
47376aec13
|
add optional arguments to projectSafe
|
2011-01-06 09:27:04 +00:00 |
|
Richard Roberts
|
f7a1665476
|
Added a non-const noiseModel accessor to GaussianFactor
|
2011-01-03 21:02:21 +00:00 |
|
Richard Roberts
|
859bd16fd5
|
Made NonlinearOptimizer::try_lambda public to allow the linear system to be modified at every LM iteration, this needs to be done somehow to implement Gaussian mixture EM, but this isn't an ideal solution. Also added a missing 'const' to the linear graph argument.
|
2011-01-02 04:57:48 +00:00 |
|
Richard Roberts
|
193e068cee
|
Added missing shared_ptr typedef to NonlinearFactorGraph
|
2011-01-02 04:48:50 +00:00 |
|
Richard Roberts
|
b68923ea9a
|
Added accessor for NonlinearOptimizer parameters
|
2010-12-31 17:38:05 +00:00 |
|
Kai Ni
|
e6144201ef
|
fixed the unit test
|
2010-12-31 09:29:35 +00:00 |