9ddeaa91c6
linking to SparseQR as a shared library results in a performance hit. The proper way is to link the static library.
...
add prepareLinear to NonlinearOptimizer so that some computation can be cached and does not happen every time.
2010-06-05 20:46:16 +00:00
942893ebca
move trylambda before printing all the configs
2010-03-15 18:38:08 +00:00
d149afbec2
Adding lambdaMode flag - defaults to BOUNDED (bounds lambda at 1e5), CAUTIOUS is currently broken.
2010-03-10 16:27:38 +00:00
5ef0400e06
put Factorization class in its own file, and added checks in constructors that take shared pointers, so we get some more meaningful output rather than *segmentation error*
2010-03-05 15:09:09 +00:00
6ea8a22958
Fixed two unit tests in MATLAB, needed some small changes in C++ as well
2010-02-21 23:50:28 +00:00
490791cd48
add writer module to dump the errors and time
2010-01-22 08:13:54 +00:00
ae908316e0
add comments
2010-01-20 06:34:25 +00:00
3bf15333af
move ordering into the solver, and the nonlinear optimizer is now exact <G, T, L>
2010-01-20 02:28:23 +00:00
3806125096
add linear system as a template parameter in nonlinear optimizer
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fixed a nasty bug and change the internal data type of subgraph preconditioner from reference to boost shared pointer. reference is not a good idea for class members, because no type checking will happen
2010-01-19 10:46:12 +00:00
05b07d443e
add linear system solver as a template class parameter in nonlinear optimizer.
2010-01-18 05:51:19 +00:00
2c8d8dbde4
NonlinearOptimizer constructor now requires shared_ptr to prevent storing pointers to stack and temporary variables. Code that uses it will need to be modified, but CitySLAM is already done.
2010-01-11 20:17:28 +00:00
a3ce3f31c8
Cleanup with NonlinearConstraints to make the active() function do thresholding for inequality constraints, rather than constraint function itself.
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testSQP now has all tests active and passing.
Added greaterThanOrEqual() for vector comparison.
2009-11-30 17:36:34 +00:00
77a1754b69
Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph
2009-11-12 16:16:32 +00:00
19bdb5c2f9
Better name for delta: linearizeAndOptimizeForDelta
2009-10-19 19:12:48 +00:00
7d0a30c20f
Renamed FGConfig to VectorConfig in gtsam, easylib, EasySLAM, and mast.
2009-10-14 20:39:59 +00:00
989f290c99
'''BIG CHANGE''': avoid converting back and to FGConfigs by templating on configuration type. Details:
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* 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
0ac12dfcbf
changed config() to const
2009-09-11 18:33:05 +00:00
5e713551b3
get it run on the mac
2009-09-10 22:50:06 +00:00
65df85125d
Fixed NonlinearOptimizer to return a shared pointer to a config
2009-09-10 22:08:47 +00:00
5e1c719c17
the getConfig function is so dangerous and it should not exist...
2009-09-10 20:32:27 +00:00
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
Kai Ni
Richard Roberts
Frank Dellaert
Alex Cunningham
Manohar Paluri
Alireza Fathi