Alex Cunningham
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ac746ccead
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Improved performance of updateAb in NoiseModel with GSL/ATLAS. Various other small optimizations were made.
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2010-01-21 18:51:59 +00:00 |
Michael Kaess
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8fd0c2ae72
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new fluid relinearization algorithm, in sync with lyx
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2010-01-21 07:38:37 +00:00 |
Frank Dellaert
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ea14959835
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NoiseModel inhertance structure reversed, all constructors protected, new static "factories"
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2010-01-17 17:47:23 +00:00 |
Richard Roberts
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f0ae2c064e
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Merging in NoiseModel, not yet used though
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2010-01-16 18:39:39 +00:00 |
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Frank Dellaert
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91a0fb23df
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Weighted pseudo-inverse now takes weights (1/sigma^2). Does not make a lot of performance difference.
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2010-01-16 06:25:11 +00:00 |
Kai Ni
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f5a6a10feb
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debug hard constraint and make pose2prior work
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2010-01-16 05:08:29 +00:00 |
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Frank Dellaert
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fb3e38b161
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25% performance increase by improving weighted_eliminate
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2010-01-16 04:57:58 +00:00 |
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Frank Dellaert
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8088aea598
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Added double as Lie type, needed to remove Lie.h include from Vector.h
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2010-01-14 05:58:58 +00:00 |
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Frank Dellaert
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bf315781af
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defined global functions in Lie.h rather than here
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2010-01-10 12:35:41 +00:00 |
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Richard Roberts
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4fa53a1f79
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Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function.
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2010-01-10 06:35:16 +00:00 |
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Frank Dellaert
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f7d5b517a4
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ediv_ is same as ediv except returns 0 for 0/0 division, needed for dealing with constraints
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2009-12-31 10:29:25 +00:00 |
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Frank Dellaert
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674ae9d030
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steepest descent now all implemented in iterative.h/cpp
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2009-12-28 12:37:34 +00:00 |
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Frank Dellaert
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bf504d30db
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new concatVectors call
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2009-12-18 06:11:19 +00:00 |
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Frank Dellaert
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bca489384e
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dot product
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2009-12-11 21:37:40 +00:00 |
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Kai Ni
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5bde26a885
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odprintf is an auxiliary function to printf for Win32 compatibility
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2009-12-02 19:37:54 +00:00 |
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Alex Cunningham
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a3ce3f31c8
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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.
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2009-11-30 17:36:34 +00:00 |
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Frank Dellaert
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17aaae42d8
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Refactoring of weightedPseudoInverse, emul, sum
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2009-11-13 06:14:55 +00:00 |
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Alex Cunningham
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f51614813e
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Improved weighted eliminate to handle arbitrary linear equality constraints
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2009-11-11 14:42:09 +00:00 |
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Alex Cunningham
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ddc0173671
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Basic handling of constraints now works in factor graphs, assuming there is only one constraint on any given variable.
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2009-11-10 04:36:07 +00:00 |
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Alex Cunningham
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2c37c94b5d
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Replaced the householder transform with the weighted system
Removed constrained components from makefile, they will disappear shortly
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2009-11-09 21:34:20 +00:00 |
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Richard Roberts
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e2414561be
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Merged r895:900 from branch weightedQR - LinearFactorGraph now has sigmas and ConditionalGaussian now has precisions
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2009-11-04 20:59:16 +00:00 |
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Frank Dellaert
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921cb0a8fc
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Got rid of (defunct) "dump" methods
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2009-10-31 17:13:36 +00:00 |
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Alex Cunningham
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4c48bb08e1
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Vector and Matrix updated with improved weighted householder operations and more tests.
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2009-10-29 12:52:27 +00:00 |
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Alex Cunningham
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37bc303492
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Added weighted Householder transforms that use precisions perform QDR factorization. Functions create a weighted vector pseudoinverse, and then use the pseudoinverse to substitute a solution into system.
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2009-10-27 14:21:22 +00:00 |
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Richard Roberts
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d80fa24a9f
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Fixing directory structure
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2009-08-21 22:23:24 +00:00 |