Stephen Williams
|
9e39df6e88
|
Added PriorFactor and BetweenFactor with optional sensor pose
transformations. Ideally these should simply be the PriorFactor and
BetweenFactor, but more investigation is needed.
|
2013-05-08 13:23:56 +00:00 |
|
Stephen Williams
|
f68e301458
|
Wrapped Inverse Depth Factor variants
|
2013-05-08 13:23:39 +00:00 |
|
Stephen Williams
|
54808f6d44
|
Added several experimental versions of an Inverse Depth Factor
|
2013-05-08 13:23:35 +00:00 |
Alex Cunningham
|
acd6e629e8
|
Moved older functions back to gtsam_unstable, cleanup. All tests pass. Rearranged summarization wrap interfaces.
|
2013-05-08 10:13:57 +00:00 |
|
Alex Cunningham
|
81f63bcc0e
|
Rearranging summarization, now with unit test in gtsam
|
2013-05-08 10:11:45 +00:00 |
|
Stephen Williams
|
36e66b2f0b
|
Fixed synchronization code in ConcurrentBatchFilter such that an empty graph does not trigger a segfault
|
2013-05-01 20:54:53 +00:00 |
Duy-Nguyen Ta
|
444ab957c4
|
a numerical derivative version for DiscreteEulerPoincare'Factor, but currently disabled.
|
2013-05-01 17:30:21 +00:00 |
|
Alex Cunningham
|
62f6089119
|
Updated matlab wrapping for moved factors
|
2013-04-30 17:50:48 +00:00 |
|
Alex Cunningham
|
a069d24374
|
Moved PoseRotationPrior, PoseTranslationPrior and ReferenceFrameFactor to gtsam.slam
|
2013-04-30 17:50:47 +00:00 |
|
Duy-Nguyen Ta
|
84ababc653
|
wrap SimpleHelicopter factors and fix a bug in noisemodel dimension
|
2013-04-30 17:21:42 +00:00 |
|
Duy-Nguyen Ta
|
26c63ec122
|
increase tolerance in TEST( testPoseRTV, Lie )
|
2013-04-29 23:35:08 +00:00 |
|
Duy-Nguyen Ta
|
e4a9c398c8
|
Factor for Discrete Euler Poincare' equation in SE3 for Simple Helicopter dynamics with correct dertivatives
|
2013-04-29 17:21:13 +00:00 |
|
Alex Cunningham
|
224be276e4
|
Added a new summarization convenience function and cleaned up documentation
|
2013-04-26 18:27:22 +00:00 |
|
Alex Cunningham
|
2b7d173c22
|
Added include path for generated headers when wrapping
|
2013-04-25 18:24:41 +00:00 |
|
Stephen Williams
|
009012005e
|
Removed VariableIndex from the class members as it was often left in an inconsistent state
|
2013-04-25 18:12:05 +00:00 |
|
Stephen Williams
|
1e1dfdd808
|
Updated BatchFixedLagSmoother to use the latest version of optimization and marginalization code
|
2013-04-25 18:10:21 +00:00 |
Richard Roberts
|
eeef9eab32
|
Generating config.h file in CMake with quaternion mode flag, dataset paths. Also added CMake option to use system-installed Eigen, which works by generating a global eigen include file containing the corresponding include paths.
|
2013-04-25 15:57:15 +00:00 |
|
Richard Roberts
|
5f3238634d
|
Added missing GTSAM_UNSTABLE_EXPORT tag
|
2013-04-25 15:57:06 +00:00 |
|
Alex Cunningham
|
38af960c53
|
removed commented line
|
2013-04-24 17:34:49 +00:00 |
|
Alex Cunningham
|
1c17065376
|
Removed unnecessary templated traits from partial pose priors - now uses rotationInterval and translationInterval
|
2013-04-24 17:34:48 +00:00 |
|
Richard Roberts
|
124a38f72d
|
Made unit test local vars/functions in anonymous namespace
|
2013-04-22 17:44:09 +00:00 |
|
Duy-Nguyen Ta
|
cde44b2952
|
Finally finish implementing the Reconstruction factor for updating the poses of holonomic vehicles using discrete variational integrators (eq. 10 in [Kobilarov09siggraph]). Also, better approximation for the derivative of the inverse expmap wrt the lie algebra in Pose3. Test with numericalderivative.
|
2013-04-22 08:34:40 +00:00 |
|
Stephen Williams
|
c1f14d60be
|
Purged unused code
|
2013-04-19 12:16:18 +00:00 |
|
Stephen Williams
|
201ca3da9e
|
Removed debug print statement
|
2013-04-19 12:16:04 +00:00 |
|
Stephen Williams
|
3eade960b8
|
Fixed bugs in marginal generation. It is possible that the marginalization will be "perfect", resulting in no marginal factor. However, a factor was being created anyway.
|
2013-04-19 12:13:43 +00:00 |
|
Duy-Nguyen Ta
|
541d416c84
|
comment for VelocityConstraint3::evaluateError
|
2013-04-17 21:25:15 +00:00 |
|
Duy-Nguyen Ta
|
494885bf1d
|
factors for the pendulum discrete mechanics in position-momentum form to use with variational integrator
|
2013-04-16 19:07:59 +00:00 |
|
Duy-Nguyen Ta
|
37d244e49b
|
fix bug in PendulumFactor2's jacobian
|
2013-04-16 02:17:19 +00:00 |
|
Duy-Nguyen Ta
|
6a139bd0f8
|
Factors for the simple Pendulum dynamics for being used with explicit/implicit/sympletic Euler integrators as in [Stern06siggraph]
|
2013-04-15 21:31:47 +00:00 |
|
Stephen Williams
|
c2fb82b935
|
Added matlab wrapping for Fixed-Lag Smoothers and Concurrent Filters and Smoothers
|
2013-04-15 19:54:46 +00:00 |
|
Stephen Williams
|
f216e97a15
|
Modified the getter method in the FixedLagSmoother base class to follow general GTSAM conventions
|
2013-04-15 17:53:33 +00:00 |
|
Stephen Williams
|
41238572c1
|
Extended the Concurrent Filtering and Smoothing example to include a delayed loop closure
|
2013-04-15 16:07:40 +00:00 |
|
Stephen Williams
|
693a0f991a
|
Added the Filter<->Smoother synchronization back into the example
|
2013-04-12 13:05:52 +00:00 |
|
Stephen Williams
|
f3007f5013
|
Moved the pre-sync code back into the presync() function call. This allows the Filter and Smoother to synchronize properly even when no call to smoother.update() has been made.
|
2013-04-12 13:05:20 +00:00 |
|
Stephen Williams
|
34d7742d95
|
Added first version of a Concurrent Filtering and Smoothing example
|
2013-04-12 12:53:34 +00:00 |
|
Stephen Williams
|
03db2b7e55
|
Modified comments
|
2013-04-12 12:53:05 +00:00 |
|
Stephen Williams
|
460a428c97
|
Provided default parameters for concurrent batch filter and smoother constructors
|
2013-04-12 12:52:29 +00:00 |
|
Stephen Williams
|
1c738123b9
|
Fixed inconsistency between odometry measurements and initializations
|
2013-04-12 12:51:22 +00:00 |
|
Stephen Williams
|
5087e4eabc
|
Modified Fixed-Lag Smoothing example to call iSAM2 multiple times to recover the same solution as batch
|
2013-04-11 21:10:32 +00:00 |
|
Stephen Williams
|
321de2f701
|
Removed debugging check from IncrementalFixedLagSmoother and added work around for tree reordering
|
2013-04-11 20:55:55 +00:00 |
|
Stephen Williams
|
c902908115
|
Added 'examples' folder to gtsam_unstable
|
2013-04-11 20:47:25 +00:00 |
|
Stephen Williams
|
95e97c2dfc
|
Changed the default 'enforceConsistency' flag to true in the Batch Fixed-Lag Smoother to match the incremental version
|
2013-04-11 20:07:58 +00:00 |
|
Stephen Williams
|
d44a9e3b75
|
Removed unused code from Concurrent Batch Filter unit test
|
2013-04-11 19:16:52 +00:00 |
|
Stephen Williams
|
f963aeb401
|
Completed rewrite of synchronization functions for the Concurrent Batch Filter
|
2013-04-11 19:16:15 +00:00 |
|
Stephen Williams
|
04d595dec1
|
Started re-implementing the synchronization functions for the Concurrent Filter
|
2013-04-11 12:43:42 +00:00 |
|
Stephen Williams
|
634a4c5ef9
|
Updated Concurrent Smoother for changes in the base class synchronization
|
2013-04-11 12:42:45 +00:00 |
|
Stephen Williams
|
0a459549f8
|
Updated synchronization interface to require the smoother and filter to track their own separator keys and values
|
2013-04-11 12:42:09 +00:00 |
|
Duy-Nguyen Ta
|
08e6d8860b
|
wrap VelocityConstraint3
|
2013-04-11 12:07:42 +00:00 |
|
Duy-Nguyen Ta
|
72325d673d
|
simple 3-way factor velocity constraint with LieScalar
|
2013-04-10 22:02:21 +00:00 |
|
Stephen Williams
|
1952337e23
|
Removed unused code from Concurrent Batch Smoother
|
2013-04-10 21:08:52 +00:00 |
|
Stephen Williams
|
dce575cb73
|
Refactored synchronization code for Concurrent Batch Smoother
|
2013-04-10 15:22:28 +00:00 |
|
Stephen Williams
|
e4b452473e
|
Removed variable index from equal test in ConcurrentBatchFilter
|
2013-04-10 15:21:50 +00:00 |
|
Stephen Williams
|
5cd020080b
|
Added marginalization code and unit tests to ConcurrentBatchFilter
|
2013-04-10 12:47:55 +00:00 |
|
Stephen Williams
|
ed560aa13a
|
Updated unit tests for changes in the Concurrent Filtering and Smoothing classes. Currently the synchronization tests are disabled.
|
2013-04-09 21:48:48 +00:00 |
|
Stephen Williams
|
0b5c07e543
|
Starting to clean up and refactor the Concurrent Filtering and Smoothing classes. Currently the synchronization is disables, as is the marginalization in the filter.
|
2013-04-09 21:24:05 +00:00 |
|
Richard Roberts
|
35cebaa873
|
Moved inertial nav factors and unit tests to gtsam/navigation
|
2013-04-09 20:04:10 +00:00 |
|
Richard Roberts
|
b68fee7b00
|
Fixed bug in hessian_equal in testConcurrentBatchFilter
|
2013-04-09 19:53:59 +00:00 |
|
Stephen Williams
|
ed90b00edf
|
Updated ConcurrentBatchSmoother to use LinearContainerFactors
|
2013-04-09 15:48:53 +00:00 |
|
Stephen Williams
|
4f064be4fa
|
Updated synchronization code for CConcurrent Filter
|
2013-04-09 15:39:24 +00:00 |
Vadim Indelman
|
244ea20f9c
|
Clean-up.
|
2013-04-08 22:49:55 +00:00 |
|
Stephen Williams
|
4c6a460fa0
|
Fixed bugs in tic-toc statements for Concurrent Filter and Smoother
|
2013-04-08 17:42:26 +00:00 |
|
Richard Roberts
|
7c362b2cbd
|
Loosened unit test thresholds slightly to account for roundoff error on some systems
|
2013-04-05 19:12:46 +00:00 |
|
Richard Roberts
|
dd18366a2f
|
Loosened unit test thresholds slightly to account for roundoff error on some systems
|
2013-04-05 19:09:51 +00:00 |
|
Richard Roberts
|
b9820550e2
|
Added DLL export tags to new code
|
2013-04-05 19:06:28 +00:00 |
|
Richard Roberts
|
67e36febf2
|
Added DLL export annotations on new code
|
2013-04-01 19:29:53 +00:00 |
|
Richard Roberts
|
f773a34834
|
Renamed experimentalMarginalizeLeaves to marginalizeLeaves and added comment
|
2013-03-26 20:46:08 +00:00 |
|
Alex Cunningham
|
233c8aa7bb
|
Moved summarization functions
|
2013-03-23 20:19:43 +00:00 |
|
Alex Cunningham
|
f45c5c5f44
|
Actually installing headers from unstable/linear
|
2013-03-23 20:19:42 +00:00 |
|
Alex Cunningham
|
a2bc0f8ae5
|
Fixing wrapped typedefs
|
2013-03-23 20:19:40 +00:00 |
|
Alex Cunningham
|
045072746d
|
Cleaning up extraneous namespace references
|
2013-03-23 20:19:39 +00:00 |
|
Alex Cunningham
|
da334ed8a2
|
Added linear tools (including summarization) from MastSLAM
|
2013-03-23 20:19:36 +00:00 |
|
Alex Cunningham
|
a0b55c3ff7
|
Moved additional wrap definitions
|
2013-03-23 20:19:32 +00:00 |
|
Alex Cunningham
|
3c2e037b16
|
Moved geometry components from MastSLAM for Pose3Upright, BearingS2, SimWall2D and SimPolygon2D
|
2013-03-23 20:19:30 +00:00 |
Frank Dellaert
|
458707ed45
|
Small changes for Qualifier 2013 Scheduling
|
2013-03-19 18:05:13 +00:00 |
|
Stephen Williams
|
396732ff6a
|
Only call iSAM2 marginalize function if there are actually keys to marginalizae out
|
2013-03-18 22:28:14 +00:00 |
|
Stephen Williams
|
9e1a07fcec
|
Added debugging function to IncrementalFixedLagSmoother
|
2013-03-18 21:39:07 +00:00 |
|
Stephen Williams
|
f03be70770
|
Updated iSAM2 Marginalize call for the latest version of GTSAM
|
2013-03-18 21:32:43 +00:00 |
|
Richard Roberts
|
a54d177202
|
Added dll export tags and updated cmake scripts so that GTSAM can build as a shared library on windows
|
2013-03-13 18:56:21 +00:00 |
|
Richard Roberts
|
6111c099ab
|
Improved build of shared vs static GTSAM libraries - now possible to build either one or both, executables link to the shared if it is being build, or otherwise to the static. Also removed separate shared/static CMake flags for gtsam_unstable, now uses the same GTSAM_BUILD_SHARED and GTSAM_BUILD_STATIC as gtsam.
|
2013-03-13 18:17:39 +00:00 |
|
Stephen Williams
|
eacbaeb84d
|
Updated incremental version of the fixed lag smoother to use the in-development iSAM2 marginalize functionality
|
2013-03-05 20:54:00 +00:00 |
|
Stephen Williams
|
60d3ba2d0e
|
Added and incremental fixed-lag smoother using new iSAM2 marginalization functionality, and created a common base class for all fixed-lag smoother implementations.
|
2013-02-27 20:23:47 +00:00 |
|
Richard Roberts
|
2b27c14dac
|
Fixed compile errors on windows
|
2013-02-24 19:09:52 +00:00 |
|
Stephen Williams
|
6fef6cf7d5
|
Added Fixed Lag Smoother and Concurrent Filtering and Smoothing to gtsam_unstable
|
2013-02-19 21:37:17 +00:00 |
|
Stephen Williams
|
bc16edd2ac
|
Added Equivalent IMU factor to gtsam_unstable
|
2013-02-19 21:24:44 +00:00 |
|
Alex Cunningham
|
8fc5ab527d
|
Comments only - appear to be unnecessary variables?
|
2013-02-14 20:42:14 +00:00 |
|
Richard Roberts
|
542d396d3b
|
Missing qualifying namespace on sqrt in InertialNavFactor_GlobalVelocity.h
|
2013-02-05 21:52:51 +00:00 |
|
Richard Roberts
|
6572400bc3
|
Improved handling of Boost shared libraries on Windows
|
2013-02-04 21:28:39 +00:00 |
|
Vadim Indelman
|
4f5b9f2074
|
added imu factor (global velocity)
|
2013-01-24 21:01:10 +00:00 |
|
Richard Roberts
|
880d98e068
|
Chain test on Cholesky
|
2012-12-11 19:14:39 +00:00 |
|
Richard Roberts
|
7851d5553b
|
Updated MATLAB cholesky scaling experiment
|
2012-12-11 19:14:36 +00:00 |
Chris Beall
|
879417cb0d
|
more documentation and cleanup: missed a file
|
2012-11-29 18:20:39 +00:00 |
|
Chris Beall
|
6b67238dd3
|
more documentation and cleanup
|
2012-11-29 18:19:28 +00:00 |
|
Richard Roberts
|
ca16f341f9
|
Changed badscale to a more reasonable value in Cholesky scaling test
|
2012-11-26 19:21:13 +00:00 |
|
Richard Roberts
|
60f29fde15
|
MATLAB tests for Cholesky scaling and preconditioning
|
2012-11-23 23:24:58 +00:00 |
|
Alex Cunningham
|
237da8b3a7
|
Moved LinearContainerFactor to gtsam/nonlinear and removed the now-redundant LinearizedFactor from gtsam_unstable
|
2012-11-21 19:41:24 +00:00 |
|
Alex Cunningham
|
cba120c96d
|
LinearContainerFactor now includes ability to "relinearize" when supplied with an original linearization point
|
2012-11-21 19:02:13 +00:00 |
|
Richard Roberts
|
00b12c7dc1
|
Added simple matrix-math eliminate and shortcut functions, and a simple matrix-math test of the feasibility of correcting root shortcut joint marginals.
|
2012-10-29 15:52:02 +00:00 |
|
Alex Cunningham
|
c3f38349b4
|
Fixed include paths for matlab modules
|
2012-10-28 20:48:17 +00:00 |
|
Stephen Williams
|
f9494679d2
|
Added optional derivatives to 'inverse' and 'compose' for variable type 'PoseRTV'
|
2012-10-22 17:31:41 +00:00 |
|
Richard Roberts
|
89b50e7679
|
Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
|
2012-10-02 20:18:41 +00:00 |