73f8c0830b
Created new dense matrix functions in GaussianFactorGraph returning pair<Matrix,Vector> for easier access, and renamed functions to augmentedJacobian, augmentedHessian, jacobian, hessian
2012-09-04 15:05:57 +00:00
abd07e553e
Made new global functions in unit tests static to avoid duplicate symbols
2012-09-04 15:05:55 +00:00
af652b0e04
remove simpleSPCG
...
reorg SubgraphSolver
add unit test for SubgraphSolver
2012-09-03 19:43:08 +00:00
9497a233ce
Cleaned up all remaining commented-out unit tests from the old linear rewrite - removed or reenabled as needed.
2012-09-03 18:36:05 +00:00
35d188e36d
Moved testIterative.cpp back to GTSAM, made the first test compile/run
2012-09-03 18:01:24 +00:00
b6150bd27e
Removed deprecated unit tests from testGaussianFactorGraphB and moved SPCG-specific ones to testGraph and testJacobianFactorGraph
2012-09-03 18:00:26 +00:00
ab7594e8f0
Made SPCG unit tests compile again, needed several fixes in iterative.h
2012-09-03 00:06:13 +00:00
3e93c488e5
Removed extra code that was sometimes maintaining a staircase pattern in JacobianFactor by sorting rows - a holdover from the staircase optimization that is no longer done now that we are using Eigen's QR
2012-08-27 22:29:56 +00:00
af48d086ed
Fixed missing renames
2012-07-27 19:15:58 +00:00
5177f31a5d
Merge remote-tracking branch 'svn/trunk' into remove_slam_namespaces
...
Conflicts:
gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
matlab/examples/Pose2SLAMExample_circle.m
matlab/examples/Pose2SLAMExample_graph.m
matlab/examples/StereoVOExample_large.m
tests/testGradientDescentOptimizer.cpp
2012-07-27 19:01:43 +00:00
7fc6a622bf
Added additional factors to the serialization unit test
2012-07-25 22:13:22 +00:00
168ddf5457
add Cal3DS2.calibrate() with fixed point iteration
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reorg nonlinear conjugate gradient solvers
wrapper for the linear solvers
2012-07-24 21:06:33 +00:00
592fa95d66
Fixed serialization for LieVector and LieMatrix
2012-07-24 14:50:01 +00:00
c2daf40c5d
Removed SLAM namespaces from testSerializationSLAM. Instead of testing each SLAM namespace individually, a single test was created that instanciates all variable-factor combinations. However, there is currently an issue with LieVector that should be resolved.
2012-07-23 22:50:21 +00:00
01bcd9e939
Removed SLAM namespace from testNonlinearOptimizer
2012-07-23 22:47:31 +00:00
7a0030070c
Removed SLAM namespace from testNonlinearISAM
2012-07-23 22:46:55 +00:00
c8f3356af5
Removed SLAM namespace from testNonlinearEquality
2012-07-23 22:46:21 +00:00
0e6762e5c9
Removed SLAM namespace from testInferenceB
2012-07-23 22:45:46 +00:00
2de44904ad
Removed SLAM namespace from testGraph
2012-07-23 22:45:07 +00:00
a641f599f6
Removed SLAM namespace from testGradientDescentOptimizer
2012-07-23 22:44:02 +00:00
fb33b8a609
removed SLAM namespace from testGaussianJunctionTreeB
2012-07-23 22:43:17 +00:00
0863b4148d
Removed SLAM namespace from testGaussianISAM2
2012-07-23 22:42:42 +00:00
f56d9c18e5
Removed SLAM namespace from testDoglegOptimizer
2012-07-23 22:41:53 +00:00
c32d1c7e02
Fixed dimensions bug in Marginals and added unit test
2012-07-23 19:29:52 +00:00
d397139fa9
Fixed dimensions bug in Marginals and added unit test
2012-07-23 19:20:53 +00:00
6266a2c56d
Removed SimpleString from CppUnitLite - now just uses std::string and boost::lexical_cast
2012-07-18 15:43:54 +00:00
af52b6811f
Fixing small warnings
2012-07-10 18:35:57 +00:00
96fc5991db
Automatic removal of unused variables in iSAM2 working in unit tests!
2012-06-30 22:32:49 +00:00
86f19362ab
Return FastSet instead of std::set from NonlinearFactorGraph::keys()
2012-06-30 22:32:46 +00:00
f06c7ad2e9
Lots of code de-duplication and cleanup in testGaussianISAM2
2012-06-30 22:32:42 +00:00
abd6795f5b
In progress removing variables from iSAM2
2012-06-30 19:17:54 +00:00
57ca7d77db
Removed Permuted views to simplify a lot of code - all objects that need to be permuted now have their data rearranged instead of using the "Permuted" indirection class.
2012-06-30 01:45:21 +00:00
c443ccbedd
More adding of static to avoid naming conflicts in unit tests
2012-06-30 01:44:00 +00:00
c7ff913f64
Added yet another configuration parameter to iSAM2. 'enablePartialRelinearizationCheck' checks variables for relinearization by descending the Bayes tree. Once a variable does not need to be relinearized, we stop checking that branch. A full check is still the default.
2012-06-28 20:46:53 +00:00
4e2aae0121
formatting of comments, added parent() interface for Bayes Tree cliques
2012-06-26 18:49:30 +00:00
1bf3ae51a9
Fixed make check compile error
2012-06-24 14:49:52 +00:00
2d0ce1c3ca
Streamlining of SLAM namespaces:
...
planarSLAM Values and Graph now derive from Pose3SLAM.
visualSLAM Values and Graph now derive from pose3SLAM.
Several methods have been renamed to make them consistent through these 4 namespaces:
addPrior -> addPosePrior
addHardConstraint -> addPoseConstraint
addOdometry/addConstraint -> addRelativePose
All gtsam and matlab examples/tests run.
PS: please don't use the deprecated typedefs in these namespaces.
2012-06-24 02:48:12 +00:00
0fe2d527f9
Fixed warnings due to discrete. GTSAM now Wall-safe?
2012-06-22 21:45:36 +00:00
6f1ea87a00
clean up noise model: Remove Shared[NoiseModel] classes and headers, typedef for backward compatibility in NoiseModel.h. Fix all tests and examples to create shared noise models through static functions in noise model classes. Fix MATLAB wrapper and examples as well. Add tests for MATLAB examples
2012-06-22 19:36:49 +00:00
94a769a447
Created derived classes for SymbolicSequentialSolver and SymbolicMultifrontalSolver. This simplifies calling eliminate, mimics the Gaussian versions, and makes matlab wrapping possible.
2012-06-21 22:31:41 +00:00
8789201822
Added mechanism to create a constrained ordering directly from a NonlinearFactorGraph
2012-06-20 01:35:42 +00:00
9cb903fe08
1. remove a redundant constructor of PinholeCamera
...
2. remove a "backproject_from_camera" function from PinholeCamera, please use "backproject" directly
2012-06-19 15:28:22 +00:00
d57fc32e74
To simplify FactorGraph, removed convertCastFactors and dynamicCastFactors from FactorGraph - replaced their calls with in-place code to do the needed conversions
2012-06-18 14:55:30 +00:00
cee80c1938
add a generic nonlinear cg solver
2012-06-13 01:21:10 +00:00
8687e1293c
disable error msg
2012-06-12 14:20:08 +00:00
6fd2ac7f86
move iterative.* back to stable. add a template-style nonlinear iterative solver
2012-06-12 14:19:01 +00:00
83dc580220
add a nonlinear gradient-descent optimizer, and a unit test.
...
todo: 1. test wolfe condition or armijo rule, 2. use iterative.h
2012-06-11 22:10:23 +00:00
3be4be9039
Moved "bigobj" MSVC compile flag to affect testSerializationSLAM
2012-06-11 14:50:22 +00:00
80e2179a8d
Cleaned up typedefs in FactorGraph.h (and removed FactorizationResult), and also made sure ::shared_ptr was never assumed to exist for a FACTOR template argument. Should it exist, ever?
2012-06-09 21:33:10 +00:00
b602e75a99
Removed the use of the ADD_CLONE_NONLINEAR_FACTOR macro, documented instances of clone() in factors
2012-06-09 21:06:06 +00:00
3d2c3aff05
Moved all Simulated* example domains and smallExample to the tests folder so they are no longer installed
2012-06-09 20:15:44 +00:00
f45c236585
Isolated exception case for use of Symbol.key(), removed use of Symbol in several tests. Removed "using namespace xxx" in header
2012-06-09 19:17:15 +00:00
dc879fe280
Moved testSubgraphPreconditioner from experimental back to linear/tests, though most of it is commented out, mostly because of JacobianFactorGraph - GaussianFactorGraph distinction
2012-06-09 18:54:47 +00:00
54bfe722ad
Returning ordering from planarGraph is obsolete since Index change
2012-06-09 18:52:22 +00:00
d70622abe0
Rearranged matlab folders to avoid calling utility functions "examples"
2012-06-07 20:09:54 +00:00
8bfe8571bc
Removed template argument from NonlinearISAM, now just uses NonlinearFactorGraph
2012-06-07 17:45:05 +00:00
a9c36fc172
move linear algebra functions for jacobian factor graph to a new file
2012-06-07 01:24:19 +00:00
ad3b431c4d
Moved building of wrap libraries to a cmake macro and moved install for matlab components to the appropriate folder
2012-06-05 18:05:00 +00:00
bef45d5b7b
Merged from branch 'branches/windows'
2012-06-05 14:09:58 +00:00
10d6157d1d
formatting/naming only
2012-06-05 13:29:04 +00:00
6b1e862688
Fix errors
2012-06-04 18:46:05 +00:00
9c8377f476
Merge remote-tracking branch 'svn/trunk' into windows
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Conflicts:
examples/Pose2SLAMExample.cpp
examples/vSLAMexample/CMakeLists.txt
examples/vSLAMexample/vISAMexample.cpp
gtsam/nonlinear/ISAM2-impl.cpp
gtsam/slam/pose2SLAM.cpp
gtsam/slam/tests/testGeneralSFMFactor.cpp
gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
gtsam/slam/tests/testPlanarSLAM.cpp
gtsam/slam/tests/testPose2SLAM.cpp
tests/testDoglegOptimizer.cpp
tests/testGraph.cpp
2012-06-04 14:13:37 +00:00
f924d01bc3
Synchronized mixed case naming
2012-06-03 05:25:05 +00:00
8440939f27
Using symbol_shorthand instead of redundant kx, kl functions
2012-06-02 19:28:21 +00:00
a2512475c9
Symbol.h is now included just in time, no longer by default everywhere.
2012-06-02 19:05:38 +00:00
5160c2eb50
Significant API change in slam (GTSAM 2.0.1 or 2.1): to eliminate confusion and give the user more freedom in creating their own Keys, the different slam variants no longer create Symbol keys themselves. Instead, all interaction is done via Keys (which are just unordered, unsigned ints). All PoseSLAM unit tests and examples now just use sequential keys. However, a user can still create Keys using the Symbol constructor, which is illustrated in the landmark-based unit tests and examples.
2012-06-02 16:18:40 +00:00
1ca9e7049e
Merge remote-tracking branch 'svn/trunk' into windows
...
Conflicts:
gtsam/linear/HessianFactor.h
gtsam/nonlinear/Marginals.cpp
2012-05-28 12:22:36 +00:00
ace4327897
reorg the nonlinear/linear parameters to accommodate the iterative solvers
2012-05-25 15:26:30 +00:00
47830cd56f
Added clone and rekey facilities to nonlinear factor graph
2012-05-24 16:05:01 +00:00
bcfe39f4ae
Merge remote-tracking branch 'svn/trunk' into windows
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Conflicts:
gtsam/nonlinear/Marginals.h
2012-05-23 18:55:18 +00:00
c2c9c4a982
Almost everything compiles and passes in windows
2012-05-23 18:51:49 +00:00
3264bd5a39
Reverted testOccupancyGrid.cpp back so that it does not break make check.
2012-05-23 15:57:12 +00:00
c3ca8175e9
removed old SPCG test
2012-05-22 15:05:15 +00:00
18e23c20df
Added missing header
2012-05-22 12:27:34 +00:00
2bd7a0ed43
Added generic re-key function to nonlinear factor
2012-05-21 20:54:42 +00:00
54f6f3629c
Added clone() functionality to nonlinear factors
2012-05-21 20:54:40 +00:00
b66dc3586d
Small change to merge in compatibility patch
2012-05-21 19:44:25 +00:00
d4a70b66d9
Added code to run MCMC with real data.
2012-05-21 19:06:26 +00:00
ba6439dbb1
Implemented a very slow Metropolis algorithm
2012-05-18 22:09:20 +00:00
9682745b81
Added ray tracing and implemented LaserFactor::operator()(const Values &)
2012-05-18 20:12:08 +00:00
c50b972dd1
Added discrete to convenience libraries dependencies
2012-05-17 16:33:51 +00:00
d0218cf512
2012-05-16 18:09:59 +00:00
1ce95c1d89
Removed LDL in favor of Cholesky
2012-05-15 15:49:14 +00:00
68467448a7
Fixed small LM bug (solving original instead of damped system) and added unit test
2012-05-15 13:23:43 +00:00
9e0996296a
Added Cholesky/LDL switch in NonlinearOptimizer, preparing to remove
...
LDL, remove dependency of NonlinearOptimizer on linear solvers.
2012-05-15 05:08:57 +00:00
516e1610a1
Added joint marginals and unit tests
2012-05-15 00:01:38 +00:00
754e289737
Fixed errors in unit tests from updated NonlinearOptimizers
2012-05-14 22:31:42 +00:00
51d38f4b5d
Added Marginals unit test and class
2012-05-14 21:33:03 +00:00
4b541e1f62
Unit tests now compile with new NonlinearOptimizer
2012-05-14 21:07:56 +00:00
88f5e3d9b6
Merge remote-tracking branch 'svn/trunk' into NLO
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Conflicts:
examples/Pose2SLAMExample_advanced.cpp
2012-05-14 18:35:15 +00:00
cb017fee80
tested and documented ability to swap factors with ISAM2
2012-05-01 18:54:44 +00:00
9ba94e4d3c
Changes in build scripts for more easily creating executables in projects
2012-04-24 14:01:42 +00:00
2ac1473a84
Fixed iSAM2 deep copy of empty tree
2012-04-09 03:02:11 +00:00
45f2101f48
Fixed deep copy in iSAM2 and added unit test to reproduce problem
2012-04-06 18:56:07 +00:00
89e05a6875
Updating unit tests and SLAM namespaces
2012-04-05 02:45:50 +00:00
ee532f2b1f
Included the inline header at the end of the standard header
2012-04-02 20:17:15 +00:00
46a1fb1103
Merge remote-tracking branch 'svn/trunk' into NLO
...
Conflicts:
.cproject
2012-03-31 01:02:45 +00:00
b67707542d
Updated CMakeLists to use newer cmake scripts
2012-03-29 18:57:31 +00:00
ba8fb0ba27
iSAM2 factorization parameter to choose LDL or QR
2012-03-27 23:30:19 +00:00
3baba11815
Fine-grained ordering constraints in iSAM2
2012-03-24 16:52:55 +00:00
829bb1f8aa
Added 'optimized' shortcut function to optimize and return Values directly
2012-03-23 22:43:59 +00:00
cdd89a43f5
DoglegOptimizer unit tests
2012-03-23 03:43:28 +00:00
b8ad7b2a0c
Fixed bugs, all unit tests pass
2012-03-22 18:02:25 +00:00
be386ed6bd
All unit tests compile
2012-03-22 17:46:43 +00:00
da70164987
Merge remote-tracking branch 'svn/trunk' into NLO
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Conflicts:
gtsam/nonlinear/NonlinearOptimization.h
2012-03-22 17:46:33 +00:00
670117cfe7
Compiles and passes unit tests
2012-03-19 14:32:37 +00:00
047dda05d7
Removed ISAM2 templating
2012-03-17 23:57:42 +00:00
e3016baf1b
Consistent 'optimize', 'optimizeInPlace', 'optimizeGradientSearch', and 'optimizeGradientSearchInPlace' functions for GBN, GBT, and ISAM2. Reorganized some existing ones and added some new ones to do this.
2012-03-16 16:16:27 +00:00
92bd4e280d
Consistent 'optimize', 'optimizeInPlace', 'optimizeGradientSearch', and 'optimizeGradientSearchInPlace' functions for GBN, GBT, and ISAM2. Reorganized some existing ones and added some new ones to do this.
2012-03-16 16:16:13 +00:00
b76cf5b07f
Made unit test names unique between subdirectories and 'tests' directory, removed subdir prefix from compiled executable names. The duplicate filenames confused Eclipse and made things difficult in CMake as well.
2012-03-15 02:10:37 +00:00
1c63d72785
Cleanup in linear solving:
...
- No longer need to fill solution vector with rhs
- Removed rhs functions
- Combined/removed redundant optimize functions for GaussianConditional, GaussianBayesNet, and GaussianBayesTree
- Renamed some to optimizeInPlace and optimizeWildfire
- Moved BayesTree optimize functions from GaussianISAM(2) to GaussianBayesTree.
2012-03-13 19:41:03 +00:00
6b5a385b7e
Added conversion to base BayesNet from derived (includes Symbolic from Gaussian)
2012-03-12 01:25:55 +00:00
0d216c8878
Only do ISAM2 back-substitution when needed instead of during every update
2012-03-11 22:10:51 +00:00
79b4b74930
Revived generic eliminate and eliminateOne functions for partial elimination
2012-03-03 20:23:03 +00:00
ced0569b6d
Fix index out-of-bounds bug in Kalman Filter test.
2012-03-02 17:13:07 +00:00
3a1175323c
Fixing compilation errors
2012-03-01 16:07:23 +00:00
9312b0a128
Updating unit tests for new NonlinearOptimizer
2012-02-28 20:55:50 +00:00
e7e64e945b
GaussNewtonOptimizer, started LevenbergMarquardtOptimizer
2012-02-27 01:18:36 +00:00
8517f852fd
Removed unnecessary files, cmake flags
2012-02-24 15:47:23 +00:00
736a3ae1a9
Removed unnecessary linking cmake option
2012-02-23 19:15:26 +00:00
1d0aaacbd6
Removed use of GTSAM_MAGIC_KEY for constructing Symbols from strings
2012-02-22 23:38:09 +00:00
cebd4631d2
Added missing argument that was causing method hiding
2012-02-21 22:18:37 +00:00
a3797e3cdb
Int keys with formatter objects, all unit tests pass
2012-02-21 00:53:35 +00:00
0a81c4e57a
Renamed NonlinearFactor[1-6] to NoiseModelFactor[1-6]
2012-02-20 21:52:47 +00:00
0592b71ac4
Switched Values, Ordering, and factors to int 'Key' instead of 'Symbol',
...
still more code changes required to compile
2012-02-19 01:02:07 +00:00
6f09998e10
Removed autotools from gtsam2 branch
2012-02-13 21:13:07 +00:00
75428b13fe
Revert "Using FastVector instead of vector in most code called during elimination and solving"
...
This reverts commit 566631cb42249cb710ef01d07d583e563afccea9.
2012-02-13 20:27:54 +00:00
051c832737
Fixed compile errors with gcc
2012-02-13 19:09:00 +00:00
d0e9b1d51a
Fixed cmake build problem to allow for excluding test files, switched testPose3SLAM to use a different interface to values
2012-02-11 22:38:53 +00:00
263b50d85a
Using FastVector instead of vector in most code called during elimination and solving
2012-02-10 15:56:01 +00:00
0d2a9018e3
Merged sub-branch into 2.0_prep branch
2012-02-08 22:05:24 +00:00
669c7c8dc8
Split up serialization unit tests into subdirectories to speed up
2012-02-08 21:53:02 +00:00
3d40f5e6fc
All unit tests pass with TypedSymbol removed
2012-02-07 04:58:11 +00:00
2f7f535f34
All unit tests pass with nonlinear factors templated on value instead of key
2012-02-07 04:02:20 +00:00
6f4c95a65b
apply bug fixes in MATLAB wrapper shared_ptr return from trunk. All tests work now.
2012-02-06 03:29:14 +00:00
811be62ed3
Working on templating factors on Value type instead of key type
2012-02-06 00:44:25 +00:00
f4515d7b30
put back Value in slam sub-namespaces for the wrapper to interface with MATLAB. Cannot solve the return shared_ptr problem in NonlinearOptimizationParameters::newDecreaseThresholds
2012-02-05 22:34:35 +00:00
563e8fe77c
correct PinholeCamera serialization problem. Add detailed comments for serialization in Value.h
2012-02-03 21:34:07 +00:00
3d9e818d1e
(2.0_prep branch) Merged in additional changes from virtual_values branch r8901-r8902
2012-02-03 17:20:23 +00:00
820b33bd55
(2.0_prep branch) Merged in virtual_values branch
2012-02-03 17:18:32 +00:00
26cdf28421
Renamed DynamicValues to Values and removed specialized derived Values classes
2012-02-02 16:16:46 +00:00
28f2276cc4
Added flag to link against local convenience libraries for tests
2012-01-31 19:59:19 +00:00
c43a9b4852
Added a variety of options to the cmake build, working on automating wrap execution/install
2012-01-31 19:59:15 +00:00
6c87006b6a
Forced testSerialization to always get run to avoid serialization breaking whenever the library changes
2012-01-31 19:59:11 +00:00
910beebb8f
Added wrap to build, assorted cleanup
2012-01-31 05:28:03 +00:00
03b4743e7a
Removed unnecessary cpp file in vSLAMexample, added CMake support for examples, used static linking to the real gtsam for tests
2012-01-31 05:28:02 +00:00
e45514e858
added tests folder to cmake build, fixed testSerialization due to namespace changes, set up linking with boost
2012-01-31 05:28:00 +00:00
4c54d05da9
Fixed index bug in ExtendedKalmanFilter unit test
2012-01-30 23:37:47 +00:00
537a1a3fae
Matlab wrapped classes now live within the gtsam namespace, meaning you have to use gtsamPose2 instead of just Pose2 in Matlab. This fixes the Point2 and Point3 issues we had with Matlab 2011b.
...
promote pose2SLAM planarSLAM etc. namespaces to be next to gtsam instead of within
2012-01-30 22:00:13 +00:00
51dca5b2d0
(in branch) Fixed Value base class assignment operator, ISAM2 expmap function, and unit tests
2012-01-30 21:23:02 +00:00
Richard Roberts
Yong-Dian Jian
Frank Dellaert
Stephen Williams
Alex Cunningham
Duy-Nguyen Ta
bpeasle
Chris Beall