cb017fee80
tested and documented ability to swap factors with ISAM2
2012-05-01 18:54:44 +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
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
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
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
0d216c8878
Only do ISAM2 back-substitution when needed instead of during every update
2012-03-11 22:10:51 +00:00
1d0aaacbd6
Removed use of GTSAM_MAGIC_KEY for constructing Symbols from strings
2012-02-22 23:38:09 +00:00
a3797e3cdb
Int keys with formatter objects, all unit tests pass
2012-02-21 00:53:35 +00:00
2f7f535f34
All unit tests pass with nonlinear factors templated on value instead of key
2012-02-07 04:02:20 +00:00
26cdf28421
Renamed DynamicValues to Values and removed specialized derived Values classes
2012-02-02 16:16:46 +00:00
98f2d47f58
most tests passed, except testPose2SLAMwSPCG, testGaussianISAM2, testNonlinearEquality, testNonlinearFactorGraph, testProjectionFactor, testVSLAM
2012-01-30 04:34:46 +00:00
18a1a98859
Ability to manually constrain specified variables to end of ordering in iSAM2
2012-01-03 19:14:00 +00:00
6c6409b81a
Ability to remove factors from iSAM2
2012-01-03 17:50:48 +00:00
21140ea0d5
(in branch) incremental dogleg bug fix and unit test (wasn't computing Gauss-Newton point)
2011-12-15 15:37:52 +00:00
f3de9e425f
(in branch) first pass at Dogleg in ISAM2, bug(s) remaining
2011-12-15 00:08:57 +00:00
dace9e213c
(in branch) Start of unit test for incremental gradient calculation
2011-12-13 22:54:11 +00:00
88c3e81a7d
(in branch) bug fix and unit test in permutation bug introduced during BayesTree Clique refactoring
2011-12-13 18:46:31 +00:00
8d5facb09e
(in branch) make check passes after refactoring and code changes for including -inl.h files from .h files
2011-12-12 23:19:31 +00:00
3b139cbae2
(in branch) Merged from trunk r7960-r8057
2011-12-12 16:03:52 +00:00
e6a43d6330
(in branch) Dogleg in ISAM2 in progress
2011-11-12 21:19:46 +00:00
97a82add25
make check for entire library now works
2011-11-04 21:44:34 +00:00
2c53df3ee7
Simplified VectorValues interface and implementation, slight simplification to Permuted<>
2011-10-26 02:04:06 +00:00
936ee6d9fd
ISAM2 refactoring and documentation
2011-09-07 15:42:49 +00:00
0c34b57b92
removed spurious typename
2011-09-02 13:53:36 +00:00
06fd0335cc
ISAM2 parameters struct instead of function arguments and hard-coded values, also documentation improvement and refactored IndicesFromFactors
2011-09-01 21:53:57 +00:00
059de23b6e
Moved ISAM2 from inference to nonlinear
2011-08-30 17:15:50 +00:00
d329d06b77
(in branch) moved ISAM2 into main gtsam library
2011-08-18 18:06:35 +00:00
559eaf8cc1
Moved smallExample to slam, as used in some project unit tests as well. [tests] no longer builds a local library as a consequence.
2010-07-13 05:26:19 +00:00
fea5beb638
Re-organization: moving all files.
...
I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests.
cpp will be further renamed/sub-divided and contains the core library.
I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 07:16:31 +00:00
Alex Cunningham
Richard Roberts
Duy-Nguyen Ta
Frank Dellaert