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18 Commits (807cffbd6133cefb82ae57ca7c0d9bf6c7ccdfef)

Author SHA1 Message Date
Frank Dellaert 807cffbd61 Pose2SLAMOptimizer prototype for use in MATLAB 2010-01-23 00:57:54 +00:00
Kai Ni 490791cd48 add writer module to dump the errors and time 2010-01-22 08:13:54 +00:00
Kai Ni 3bf15333af move ordering into the solver, and the nonlinear optimizer is now exact <G, T, L> 2010-01-20 02:28:23 +00:00
Kai Ni 3806125096 add linear system as a template parameter in nonlinear optimizer 
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
Kai Ni ebbdfc79aa comment out overflow exception 2010-01-19 04:18:59 +00:00
Kai Ni 05b07d443e add linear system solver as a template class parameter in nonlinear optimizer. 2010-01-18 05:51:19 +00:00
Kai Ni f5a6a10feb debug hard constraint and make pose2prior work 2010-01-16 05:08:29 +00:00
Chris Beall a956c1a8be svn restored from 1733. 
this commit updates gtsam to version 1774, which now appears as 1734.
 2010-01-16 01:16:59 +00:00
Richard Roberts 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
Richard Roberts 19a3e228d7 Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes. 2010-01-08 00:40:17 +00:00
Richard Roberts 971b575715 Fix duplicate definition error by adding 'inline' to checkConvergence 2009-12-14 06:10:51 +00:00
Alex Cunningham a3ce3f31c8 Cleanup with NonlinearConstraints to make the active() function do thresholding for inequality constraints, rather than constraint function itself. 
testSQP now has all tests active and passing.
Added greaterThanOrEqual() for vector comparison.
 2009-11-30 17:36:34 +00:00
Alex Cunningham 77a1754b69 Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph 2009-11-12 16:16:32 +00:00
Frank Dellaert e1716a39cd Two changes: LinearFactor::sparse and LinearFactorGraph:sparse, and renamed VariableSet -> Dimensions, which is now a map from keys to integer variable dimensions. Merged in from the "sparse" branch created with Viorela. 2009-11-06 05:43:03 +00:00
Frank Dellaert 19bdb5c2f9 Better name for delta: linearizeAndOptimizeForDelta 2009-10-19 19:12:48 +00:00
Alex Cunningham 7d0a30c20f Renamed FGConfig to VectorConfig in gtsam, easylib, EasySLAM, and mast. 2009-10-14 20:39:59 +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 68e20eec2c 2 BIG changes: 
(1) FactorGraph and NonlinearOptimizer now no longer have a .cpp file, but a -inl.h file as in [http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml Google's C++ Style Guide]. This means if you expect to instantiate one of the functions in a cpp file, you have to include the -inl.h file.
(1) getOrdering is now in FactorGraph, and the non-linear version does *not* take a config anymore. 
Long version: I made this change because colamd works on the graph structure alone, and should not depend on the type of graph. Instead, because getOrdering happened to implemented in LinearFactorGraph first, the non-linear version converted to a linear factor graph (at the cost of an unnecessary linearization), and then threw all that away to call colamd. To implement this in a key-neutral way (a hidden agenda), i had to modify the keys_ type to a list, so a lot of changes resulted from that.
 2009-09-13 04:13:03 +00:00