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13 Commits (730f4a546f8a5e4fa6fd1b025f5b9f98449fb979)

Author SHA1 Message Date
Frank Dellaert 730f4a546f Added planar graph with easy subtree 2009-12-31 12:55:51 +00:00
Michael Kaess 75ab62a729 ISAM2 (nonlinear ISAM) partially there, unit test currently disabled 2009-12-29 05:57:05 +00:00
Alex Cunningham 77a1754b69 Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph 2009-11-12 16:16:32 +00:00
Alex Cunningham 2c37c94b5d Replaced the householder transform with the weighted system 
Removed constrained components from makefile, they will disappear shortly
 2009-11-09 21:34:20 +00:00
Frank Dellaert 943b692a6b BIG CHANGE: I got rid of the BayesChain/ChordalBayesNet classes and we now simply have a BayesNet class. It will just happen to be chordal when it is the result of an elimination. This will simplify a lot of things. 
The main renaming that happened is

BayesChain -> BayesNet
ChordalBayesNet -> GaussianBayesNet == BayesNet<ConditionalGaussian>
SymbolicBayesChain -> SymbolicBayesNet == BayesNet<SymbolicConditional>
 2009-10-31 19:53:20 +00:00
Frank Dellaert 83e5286710 ChordalBayesNet is now derived from BayesChain 
Explicit template instantiations
 2009-10-30 04:54:11 +00:00
Frank Dellaert 4d9ff77249 moved timing example here from EasySLAM 2009-10-27 13:34:36 +00:00
Alex Cunningham 7d0a30c20f Renamed FGConfig to VectorConfig in gtsam, easylib, EasySLAM, and mast. 2009-10-14 20:39:59 +00:00
Alex Cunningham 8f20523e7f ConstrainedLinearFactorGraphs now handles multiple constraints on a node properly. 
smallExample was changed to include two of the examples used in testConstrainedLinearFactorGraph
ConditionalGaussian was changed to make solve() virtual, as this is necessary for ConstrainedConditionalGaussian
 2009-10-14 15:32:05 +00:00
Alex Cunningham 66dac8a52f Generalized constraint handling to create a LinearConstraint which implements linear equality constraints that can be eliminated as a part of a ConstrainedLinearFactorGraph. DeltaFunction has been changed to be a ConstrainedConditionalGaussian, which has a more robust solve() function. The new tests no longer use the "constrained" example from smallExample, so those functions have been commented. 
''Limitations: ''
 * Any given node can only have one constraint on it, but constraints can be of arbitrary size
 * Constraints can only be specified as a blockwise system, where each block must be square and invertible to support arbitrary elimination orderings.  
  * ConstrainedNonlinearFactorGraph is disabled until a better solution for handling constraints in the nonlinear case is determined.
 2009-10-08 13:57:22 +00:00
Frank Dellaert 989f290c99 '''BIG CHANGE''': avoid converting back and to FGConfigs by templating on configuration type. Details: 
* Factors are now templated on the configuration type. Factor Graphs are now templated on the factor type and configuration type.
 * LinearFactor is a factor on an FGConfig.
 * LinearFactorGraph uses LinearFactor and FGConfig.
 * NonLinearFactor is still templated on Config.
 * NonLinearFactorGraph uses NonLinearFactors, but is still templated on Config.
 * Tests and VSLAMFactor have been updated to reflect those changes.
 2009-10-06 18:25:04 +00:00
Frank Dellaert 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
Richard Roberts d80fa24a9f Fixing directory structure 2009-08-21 22:23:24 +00:00