c0e4f76d94
More manifolds...more numerical differentiation...more.
2014-12-14 18:59:57 +01:00
da4c44e12d
More progress
2014-12-14 15:26:43 +01:00
2225c10fc0
use ExpressionFactorGraph
2014-12-13 08:35:22 +01:00
48b08bd58e
more informative print for LinearInequality showing its active/inactive state
2014-12-13 01:04:46 -05:00
c4b574774a
remove LinearConstraint. It is replaced by LinearEquality
2014-12-13 01:04:08 -05:00
da318184ae
sync with develop branch commit c1f048d
2014-12-12 18:46:54 -05:00
e539738fd0
Remove support for dual keys. Added finished() after all matrices and vectors. Remove buildDualGraph from GaussianFactorGraph. Remove support for multipliedHessians for non-linear equality constraints.
2014-12-12 17:23:31 -05:00
181bfb4f0f
Added support for compiling lpsolve on linux. Windows not tested
2014-12-12 17:21:07 -05:00
e12add2739
Merged in develop (pull request #71 ). Resolve conflicts.
2014-12-12 15:34:53 -05:00
593795f65b
use Eigen's predefined RowVector typedef
2014-12-12 12:51:19 -05:00
ac6f10ea74
enforce RowVector as Jacobian for single-valued linear inequalities
2014-12-12 12:43:07 -05:00
a26ef7b7a2
refactor QPSolver to work with single-valued linear inequality factors. Unit tests passed.
2014-12-12 12:03:00 -05:00
6d68f5ffff
equality constraints are always active
2014-12-12 12:02:06 -05:00
4f28eace7e
LinearInequality now only supports single-valued function. Add active/activate/inactivate function to use in the qp active set method.
2014-12-12 12:01:16 -05:00
a7b8e60272
Unit test failure, either retraction or localCoordinates is wrong for rotation
2014-12-12 10:38:59 -05:00
c6e4cd5e03
Operational Sim3 with basic unit tests
2014-12-12 10:12:58 -05:00
69f27b9488
Additional unit test
2014-12-12 08:43:57 -05:00
8f27b048f1
Moved experiment to doubleExpresso project
2014-12-12 08:53:32 +01:00
541217175c
Added ExpressionFactorGraph (should go away with move of ExpressionFactor to gtsam)
2014-12-12 08:00:02 +01:00
fa7071bdd8
Comments, renaming
2014-12-12 07:45:09 +01:00
8cc813f03e
Removed misguided Factory attempt in favor of direct expressions
2014-12-12 07:31:33 +01:00
8c4468185a
Take a stab at localCoordinates
2014-12-11 22:54:02 -05:00
a9121fc3fc
Now it's super-easy to create priors on pieces of state.
2014-12-11 13:45:15 +01:00
31ca0d76db
Added unary version
2014-12-11 13:44:47 +01:00
cedf2647d2
Use handy dandy Factor Factory
2014-12-11 13:19:37 +01:00
29dc382c22
Fixed small bug
2014-12-11 13:19:19 +01:00
f588a3928a
Added handy dandy Factor Factory
2014-12-11 13:19:08 +01:00
d37216cde3
TOAFactor header
2014-12-10 22:50:41 +01:00
bb00e375da
Print for MATLAB
2014-12-10 21:44:56 +01:00
dc84b6589e
Added in real experimental data gathered by Jay at KU Leuven
2014-12-10 21:12:38 +01:00
d17caa5487
Event header and test file
2014-12-10 19:14:18 +01:00
5d6e0bc753
Optimization test succeeds, but only with 5th microphone...
2014-12-10 19:00:52 +01:00
2dcbc72d8d
Derivatives work !!!
2014-12-10 17:58:35 +01:00
0ceb09262c
Put in prototype derivatives, needs unit test
2014-12-10 16:06:34 +01:00
cca1a54544
Everything done, except derivatives !!!
2014-12-10 16:02:13 +01:00
d54c70202a
TOAFactor compiles and can be put into a factor graph
2014-12-10 15:43:31 +01:00
ba1a2685bc
Not-working yet, but lots of progress towards TOAFactor
2014-12-10 15:10:59 +01:00
5ce007446d
Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
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Conflicts:
.cproject
2014-12-10 14:47:58 +01:00
777aa005b4
Developing time of arrival factor with Jay at KU Leuven
2014-12-10 14:24:10 +01:00
22218eafc4
We will not wrap fixed Vectors and Matrices individually. Methods that take those can just as well be wrapped with Vector or Matrix. Note const and & are ignored for those. I added a small method, insertFixed, that allows one to put in small fixed size matrices for optimization. Did not do retrieval yet.
2014-12-10 10:45:22 +01:00
ba903536c8
fix ACTIVE/INACTIVE constants as Frank suggested
2014-12-09 22:29:21 -05:00
565eb99948
remove a TODO as it's done.
2014-12-09 22:28:39 -05:00
85397223ef
fix QPSolver unit tests
2014-12-09 16:27:11 -05:00
9b418c98ca
fix LPSolver unittest
2014-12-09 16:26:19 -05:00
1e778cf77b
No longer need to cast function pointers for expressions on Windows, with Optional Jacobian
2014-12-09 11:53:35 -05:00
137ea64200
Updating with OptionalJacobian
2014-12-09 11:49:47 -05:00
3bd491bf66
Merge branch 'develop' into fix/windowsExpressions
2014-12-09 11:04:30 -05:00
001794ac84
refactor QPSolver inprogress... Compiled but tests failed.
2014-12-09 06:13:57 -05:00
8c4705b905
check testable concept
2014-12-09 06:13:01 -05:00
a4f8ead2a6
add print
2014-12-09 06:12:41 -05:00
cea76a2848
More template handholding for windows
2014-12-08 21:48:59 -05:00
701dcc1c99
Correcting VLA issue, and add template specification for between Pose2 objects. More template specifcations will be needed on windows, unless another fix is found
2014-12-08 21:39:12 -05:00
468aa5d6b6
Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives
2014-12-05 22:23:12 +01:00
a7b61373a9
Fix include path for moved Autodiff stuff
2014-12-05 13:52:49 -05:00
f71513b3bf
Compiles and test runs
2014-12-05 15:50:09 +01:00
51c4a50c23
Initial broken commit of Similarity Transform
2014-12-05 09:28:10 -05:00
02075b7575
Moved to project
2014-12-04 21:08:31 +01:00
4fd2a288a2
Expressions now require OptionalJacobian
2014-12-04 21:08:15 +01:00
96016edf85
Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives
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Conflicts:
.cproject
2014-12-04 21:07:34 +01:00
30c4092d80
Move AdaptAutodiff and test to close issue #142
2014-12-04 12:15:53 -05:00
d2e53d4fe9
"Fixed" AHRS
2014-12-04 12:30:41 +01:00
003e7a06ab
3rdparty/ceres include paths
2014-12-03 23:11:54 -05:00
cbaf96e28c
Move and rename ceres headers
2014-12-03 23:07:26 -05:00
4e557d38e6
updated Matrix.h with commonly used matrices.
2014-12-03 09:59:10 -05:00
b318857216
Now valgrind error free
2014-12-02 08:37:32 -05:00
468d1bd78a
Fixed unitialized error, fixes issue #179
2014-12-02 11:10:59 +01:00
1330d6b7f2
Removed legacy code
2014-12-02 11:10:29 +01:00
6910c70d4b
Prototype FourierDecomposition class
2014-12-01 22:30:04 +01:00
a92f9b3335
Merged in fix/unrollingReverseADInterfaceRecursionForCodeSimplicity (pull request #56 )
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unrolled the reverseAD recursion (issue #151 )
2014-12-01 20:43:45 +01:00
c7ab79690b
missing <limits> for std::numeric_limits
2014-12-01 12:38:17 -05:00
6c62609737
- introduced CallRecordMaxVirtualStaticRows for keeping CallRecord.h and testCallRecord.cpp in sync with respect to this.
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- reactivated the fully dynamically sized matrix support in CallRecord.h
- small cleanups
2014-11-29 16:03:33 +01:00
e2e29dac68
Removed #ifdef blocks and documented the AD process by numbering the methods in the order they are called
2014-11-29 13:09:17 +01:00
7989a8c0dc
Added wide test
2014-11-29 13:08:10 +01:00
18a8de1f46
- unrolled the reverseAD recursion
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- MaxVirtualStaticRows is now a macro and some preprocessor derictives activate and deactivate the corresponding defintions. This could be of course removed at some point.
2014-11-29 10:14:19 +01:00
c90bc5c34a
Excluded Paul's test
2014-11-29 08:01:17 +01:00
6505e602d8
FixedRef is now OptionalJacobian
2014-11-28 17:14:26 +01:00
747071138e
Use new FixedRef type in tests
2014-11-28 01:58:24 +01:00
dc40864a8f
Excluded Paul's test
2014-11-28 01:58:11 +01:00
0d41523725
Use new FixedRef type
2014-11-28 01:57:55 +01:00
ee790839c6
Now only accept new FixedRef type
2014-11-28 01:57:45 +01:00
3aa7fd6d18
add LinearConstraint
2014-11-27 10:45:23 -05:00
88693e2129
Comments (ineq -> inequality)
2014-11-27 11:01:45 +01:00
3800e1f101
initials -> initialValues
2014-11-27 10:52:25 +01:00
4871202664
identifyLeavingConstraint
2014-11-27 10:49:35 +01:00
9ca2ba9b66
Simplified freeHessians_ using inner class
2014-11-27 10:47:45 +01:00
b5e8be56f3
more informative comment
2014-11-26 18:53:45 -05:00
ba911edfad
Fixed up comments
2014-11-26 22:59:33 +01:00
ad07531453
Tested TestCase, fixed wrong documentation
2014-11-26 22:40:48 +01:00
3a2b2efdbc
Merged in feature/ExpressionsToBase (pull request #51 )
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GTSAM 4 Roadmap: Move Expressions to nonlinear
2014-11-26 21:42:46 +01:00
12ca4317a2
fix namespace
2014-11-26 15:27:28 -05:00
cc4cdc93a3
Correct issue with function overload ambiguity when passing function pointer to expression constructor on windows
2014-11-26 15:06:16 -05:00
e1b453b952
Fixed warning
2014-11-26 17:32:30 +01:00
d5ca61972f
Fixed assert
2014-11-26 17:31:46 +01:00
72644b8ff3
Fixed headers
2014-11-26 17:31:40 +01:00
c1a10f2cf7
Moved files
2014-11-26 17:25:40 +01:00
3307a49e65
is_constrained is now isConstrained
2014-11-26 12:33:17 +01:00
c2e38633b5
Merge remote-tracking branch 'origin/develop' into feature/BAD_custom_chart
...
Conflicts:
gtsam_unstable/nonlinear/ExpressionFactor.h
2014-11-26 11:20:56 +01:00
7aaf6a1e82
Headers and standard formatting
2014-11-26 09:04:34 +01:00
50c93ec954
Merged in feature/fixIssue165 (pull request #48 )
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Safer public interface
2014-11-25 16:13:50 +01:00
dc4c0b54c0
Addressed code review by @hannessommer
2014-11-25 16:13:30 +01:00
7b1a9ba371
Merged in feature/TemplatedSmartFactors (pull request #39 )
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Templated Smart Factors
2014-11-25 07:36:14 -05:00
df91cf7fad
Made vaguely unsafe keysAndDims private (as it relies on keys and dimensions being in same order), as to not tempt people to use it.
2014-11-25 12:36:52 +01:00
2ced73ebe1
We now use safe version in unwhitenedError
2014-11-25 11:29:50 +01:00
2c35cda71f
Yet another indirection makes public code a bit cleaner.
2014-11-25 11:23:38 +01:00
07e5475b6b
Making friends...
2014-11-25 11:02:54 +01:00
e0248c3ca7
Created keysAndDims and safe version of values
2014-11-25 10:53:34 +01:00
915c760524
cleaned up the code a bit
2014-11-25 06:43:55 +01:00
5b44ddc3e5
Merge branch 'feature/BAD_custom_chart' of https://bitbucket.org/gtborg/gtsam into feature/BAD_custom_chart
2014-11-25 06:43:45 +01:00
14b582d268
cleaned up the code a bit
2014-11-25 06:42:36 +01:00
4790bade85
Moved and refactored testing
2014-11-25 00:19:01 +01:00
e34a237162
Merged in feature/ordering (pull request #34 )
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METIS Ordering
2014-11-24 18:04:35 -05:00
6c13834260
change back to lower case, and fix another similar header issue
2014-11-24 15:51:07 -05:00
923c5733c7
Merged in fix/BAD_alignment_issue_154 (pull request #42 )
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proposal to fix alignment in BAD (issue #154 )
2014-11-24 21:27:50 +01:00
5b5122d15b
Fixed a copy/paste error
2014-11-24 21:23:53 +01:00
07044137eb
A failing unit test for a custom chart
2014-11-24 21:14:59 +01:00
867acbef6c
Fixed building wrapper.
2014-11-24 20:14:56 +01:00
c570f53e57
Merged in feature/BAD_using_charts (pull request #41 )
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Working on a prototype of wrapping external types
2014-11-24 19:01:58 +01:00
ea02e577f5
Merged in feature/expressions (pull request #45 )
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Pull request for debugging Expression<double> issue
2014-11-24 18:40:31 +01:00
a9090fd7af
Cleanup with Jing
2014-11-24 15:53:13 +01:00
9f68344abb
Addressed code review
2014-11-24 12:43:30 +01:00
db6c9ff378
swtichted to Eigen::MatrixBase<Derived> as far as possible for dTdA to gain some performance and not to forget some types at some level :).
2014-11-24 10:48:15 +01:00
3bf92d1a47
Force eval
2014-11-24 09:58:47 +01:00
a44baac308
Added a function for testing charts
2014-11-24 09:29:14 +01:00
6fc3c450a7
Fixed the chart concept check and cleaned up a bit
2014-11-24 08:18:55 +01:00
df7470866f
More progress on easy Jacobian testing
2014-11-24 07:44:06 +01:00
586ad610f8
Added more unit tests that expose compilation issue
2014-11-24 02:15:48 +01:00
3ba9e8f405
Updated some usages that were missed
2014-11-23 15:24:55 -08:00
9322b3ba8b
Unit test verifies Jacobian and value
2014-11-24 00:08:34 +01:00
e0f9f7a33e
Fourier prototype that unfortunately does not compile
2014-11-23 23:16:04 +01:00
f40940dffe
Tiny changes
2014-11-23 23:15:25 +01:00
149bfe1729
Chery-picked Paul's changes
2014-11-23 23:15:10 +01:00
f9ca07e610
Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax
2014-11-23 10:22:25 -08:00
83abb4c6ed
unit test with manual Fourier
2014-11-23 18:04:54 +01:00
f21fe5043a
Created a new expressions.h file in nonlinear
2014-11-23 17:31:33 +01:00
6cc7b17687
proposal to fix alignment in BAD (issue #154 )
2014-11-23 13:51:47 +01:00
77254900f2
Updated timing scripts for comma initializer
2014-11-22 18:07:27 -08:00
aa093a35da
Updated all comma initializer usages to use .finished()
2014-11-22 16:35:27 -08:00
d00aeb7e70
Formatting and some small problems
2014-11-22 21:48:36 +01:00
cc997dd774
adapted a view comments and friendships to the new virtual inheritance sceme
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visibility fine tuning
2014-11-22 19:19:17 +01:00
620fb4566f
Fixed matlab wrappers
2014-11-22 18:22:55 +01:00
a9e3545a29
Merge remote-tracking branch 'origin/release/3.2.0' into feature/quadratic_programming
...
This should make merging in develop easier, and it also helps me understand what changed.
I mostly avoided conflicts by keeping Duy's versions of:
Conflicts:
gtsam/3rdparty/metis-5.1.0/CMakeLists.txt
gtsam/linear/JacobianFactor-inl.h
gtsam/linear/NoiseModel.cpp
gtsam/nonlinear/NonlinearFactor.h
and a number of other files. In particular, I did not upgrade Eigen or remove metis.
The following unit tests fail in this branch:
The following tests FAILED:
2 - testWrap (Failed)
85 - testGeneralSFMFactor (SEGFAULT)
142 - testIMUSystem (Failed)
178 - testTSAMFactors (Failed)
2014-11-22 15:18:09 +01:00
3ef0eabff6
Merged in changes from develop
2014-11-22 14:55:32 +01:00
aae206b308
Merge branch 'develop' into feature/BAD_using_charts
2014-11-22 14:38:55 +01:00
e5fe5676b1
Working on a prototype of wrapping external types
2014-11-22 14:10:25 +01:00
87ea6341f2
virtual inheritance for better readability and decoupling
2014-11-22 09:39:08 +01:00
b4fe033d12
added CallRecord unit test
2014-11-21 23:04:58 +01:00
32992cf05e
added missing overload for full dynamic matrix.
2014-11-21 23:04:58 +01:00
ee52ca15dd
move LPSolver and QPSolver to unstable. Add script to compile lpsolve on Mac when doing cmake if it's not found.
2014-11-21 16:04:12 -05:00
6d0c1a44e1
- some small cleanup and improved readability.
...
- virtual overload warnings should not be issued anymore
2014-11-21 21:13:24 +01:00
f699dd26bb
correct case in import
2014-11-21 21:10:12 +01:00
c238e5852c
Now uses CallRecord.h
2014-11-21 15:48:29 +01:00
2983cf33a6
Created CallRecord header
2014-11-21 15:48:10 +01:00
dd255eb24c
Remove landmark template parameter
2014-11-19 13:07:14 -05:00
6529b793cc
Some fixes for feedback reported in pull request #39
2014-11-19 12:51:12 -05:00
f3d42a8487
Move to unstable
2014-11-17 19:53:21 -05:00
36a485169d
Refactor Ordering parameters. Now compiles and passes with gcc
2014-11-17 16:16:52 -05:00
fb24ab586e
introduced a MaxVirtualStaticRows compile time constant and realized as many static rows specific virtual reverseAD methods in the CallRecord interface to speedup the Jacobian evaluatio.
2014-11-17 11:18:09 +01:00
4966f5a942
mini cleanup and improve comment TODO
2014-11-17 11:18:09 +01:00
d24b799988
Merge remote-tracking branch 'origin/develop' into feature/TemplatedSmartFactors
2014-11-14 14:35:25 -05:00
d4b868aa12
Formatting and documentation
2014-11-14 11:20:36 +01:00
87ef601b66
changes revertted to 502a745
2014-11-13 21:26:33 -05:00
ee3ea5bfad
reverse to previous MKL_BLAS defined order
2014-11-13 21:14:07 -05:00
c4f3a48bc9
Revert "Fixed remaining compile issues in "make timing""
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This reverts commit 502a7459f9
2014-11-13 21:07:27 -05:00
502a7459f9
Fixed remaining compile issues in "make timing"
2014-11-14 02:30:10 +01:00
c2c1de1761
Fix compile errors in issue #147
2014-11-14 02:19:48 +01:00
865b0c0129
Fixed compile issue in Debug mode
2014-11-14 02:13:11 +01:00
e2aef1b325
Merge remote-tracking branch 'origin/develop' into feature/BAD
2014-11-14 01:31:49 +01:00
1c97d1270d
Changing include order so as to OpenMP flags (if used) are defined
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before metis. This fixes a compilation error with testFindSeparator.cpp
2014-11-11 17:14:51 -05:00
0313c46272
fix DCHECK_LT in fix/wrap
2014-11-11 12:02:53 -05:00
265184b6c9
Avoid warning
2014-11-10 17:56:08 +01:00
e976aae38a
Avoid warning and re-formatted with BORG template
2014-11-10 16:27:33 +01:00
139ef0d61d
fix glog macro to assert
2014-11-08 22:16:32 -05:00
e4936df80a
matlab wrappers compile, but need testing
2014-11-07 22:41:21 +01:00
90ec6b1452
reverted extra spaces which were added in last commit
2014-11-07 12:11:08 +01:00
bd3f9db7df
inlined a fully specialized function template defined in a .hpp
2014-11-07 11:37:27 +01:00
a94835a2e4
Merge remote-tracking branch 'origin/develop' into feature/BAD
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Conflicts:
.cproject
gtsam/geometry/Cal3DS2.cpp
gtsam/geometry/Cal3DS2.h
gtsam/geometry/Cal3Unified.h
gtsam/navigation/CombinedImuFactor.h
gtsam/navigation/ImuFactor.h
gtsam/nonlinear/NonlinearFactor.h
gtsam/slam/tests/testPoseRotationPrior.cpp
Modified: testGaussMarkov1stOrderFactor.cpp, testPoseRotationPrior.cpp
2014-11-04 17:04:57 +01:00
3824fe5f90
Fixed assert_equal and warnings
2014-11-04 15:48:30 +01:00
efc2dc69fe
Got rid of some concats
2014-11-04 15:44:41 +01:00
4afe132b1a
Fixed dimensions of Vectors
2014-11-04 15:41:14 +01:00
da3677e704
No more LieVector/LieScalar
2014-11-03 13:52:08 +01:00
f1dd554a9d
No more LieVector (too much copy/paste here)
2014-11-03 13:38:25 +01:00
2a745b6c26
No more LieVector/LieScalar
2014-11-03 13:32:58 +01:00
39ce31d0cc
No more LieVector
2014-11-03 13:15:41 +01:00
b5327673fb
Get rid of LieVector
2014-11-03 11:02:15 +01:00
492c607f9e
No more Lie types
2014-11-03 09:27:40 +01:00
e0c4d84dd7
Fixed some tests/warnings in quaternion mode
2014-11-03 00:59:19 +01:00
11416cac65
Merge branch 'feature/BAD' into feature/BAD_generic_value_traits
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Conflicts:
gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
2014-11-02 19:00:30 +01:00
17d352bab4
Slight re-factor
2014-11-02 14:42:59 +01:00
d2f56b13ed
Non-trivial noise models now correctly handled (at a small performance penalty, due to malloc of Vector b).
2014-11-02 14:37:52 +01:00
8a6d8bfc82
Back to single
2014-11-02 14:35:32 +01:00
90a0fa6e45
Check if active
2014-11-02 13:53:22 +01:00
a8ab910c32
Merged twio changes in: the is_constrained() flag that does away with the dynamic cast, and the changes duy made in commit a61b49d to remove the constrained noise model hack. At the same time, both linearize methods (in expressionFactor and NonlinearFactor) now make use of is_constrained().
2014-11-02 13:45:54 +01:00
b9e3c3b116
Made unsafe constructor private, but made ExpressionFactor<T> a friend.
2014-11-02 12:01:52 +01:00
cb69f2cb82
Fastest linearize so far. Putting 'unsafe' constructor in JacobianFactor itself makes a *huge* difference.
2014-11-02 11:40:48 +01:00
7aaf4dae8c
Merge remote-tracking branch 'origin/feature/BAD_VerticalBlockMatrix' into feature/BAD_WriteableJacobianFactor
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Conflicts:
gtsam_unstable/nonlinear/ExpressionFactor.h
2014-11-01 17:45:23 +01:00
7debde7518
Moved to ExpressionFactor that now uses it - timing seems worse ?
2014-11-01 15:12:06 +01:00
12e38a44e4
WriteableJacobianFactor will allow ExpressionFactor to write into the factor directly, (hopefull) eliminating huge overhead.
2014-11-01 14:13:08 +01:00
a4fa61a7a4
Removed JacobianMap tests
2014-11-01 11:56:38 +01:00
f38b0b0eed
Fixed unwhitenedError
2014-11-01 11:50:28 +01:00
7b539fbb5c
Make JacobianMap a wrapper around a VerticalBlockMatrix, which avoids us having to make a vector of references into it
2014-11-01 11:35:49 +01:00
Paul Furgale
dellaert
thduynguyen
krunalchande
Paul Drews
Andrew Melim
cbeall3
Natesh Srinivasan
Christian Forster
HannesSommer
Jing Dong
Richard Roberts
Zhaoyang Lv
Abhijit Kundu
Mike Bosse
Renaud Dube