dellaert
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c776e87f78
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Refactoring for readability/sanity
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2014-10-11 21:33:07 +02:00 |
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dellaert
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1bac83381f
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Merge remote-tracking branch 'origin/feature/BAD_meta' into feature/BAD: Now the Record structures are recursively generated using template meta-programming, basically mpl::fold
Conflicts:
gtsam_unstable/nonlinear/Expression-inl.h
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2014-10-11 15:20:12 +02:00 |
|
dellaert
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88f9a423c5
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Numbered types avoid ambiguity
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2014-10-11 14:19:39 +02:00 |
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dellaert
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ecf6462a25
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Victory!! Unit tests work!
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2014-10-11 13:07:58 +02:00 |
|
dellaert
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599e232d1d
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traceSize, two tests work
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2014-10-11 12:11:22 +02:00 |
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dellaert
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deed7b8018
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Unary prints, but still-faults downstream
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2014-10-11 11:30:06 +02:00 |
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dellaert
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69b69a0bc8
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placement new works! And sophisticated Trace::print
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2014-10-11 11:03:35 +02:00 |
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dellaert
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eef2d49e8d
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First prototype, segfaults
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2014-10-11 10:27:30 +02:00 |
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dellaert
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e09e24964a
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No need to have all of T as template parameter
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2014-10-11 09:00:03 +02:00 |
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dellaert
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820988b04e
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Do casting inside Trace
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2014-10-11 08:52:24 +02:00 |
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dellaert
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52fc6f2db4
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Testing old trace
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2014-10-11 08:41:39 +02:00 |
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dellaert
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820e9553ee
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TestBinaryExpression friend
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2014-10-11 08:17:46 +02:00 |
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dellaert
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23485a0e71
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New and consistent naming: ExecutionTrace = whole tree, CallRecord = local information left by the function.
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2014-10-10 17:45:39 +02:00 |
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dellaert
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58bbce482d
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Ternary works, same caveat
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2014-10-10 13:33:13 +02:00 |
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dellaert
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406467e341
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Binary works, but it's ugly and does not work for repeated types
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2014-10-10 13:29:56 +02:00 |
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dellaert
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24714e48c5
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Works for Unary !
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2014-10-10 12:38:26 +02:00 |
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dellaert
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f8468bd596
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Recursion done
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2014-10-10 12:31:40 +02:00 |
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dellaert
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732ff54b83
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More experiments
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2014-10-10 11:41:01 +02:00 |
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dellaert
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8e264f4289
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Attempt at defining Trace recursively
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2014-10-09 14:38:16 +02:00 |
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dellaert
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5e5457b390
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Renamed entry point to startReverseAD to emphasize it is only called once
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2014-10-09 13:42:43 +02:00 |
|
dellaert
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7e069191e5
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Slight refactor
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2014-10-09 10:58:46 +02:00 |
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dellaert
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a38a0ae9e1
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Some comments
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2014-10-09 00:21:10 +02:00 |
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dellaert
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9ebe1e6d10
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Super-speedup by specializing to 2-dimensional output (for now). Using some template magic.
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2014-10-08 23:50:17 +02:00 |
|
dellaert
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abb92632b8
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Empty derived destructors are not needed
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2014-10-08 17:32:46 +02:00 |
|
dellaert
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6a1bc6e242
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Documentation
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2014-10-08 17:28:33 +02:00 |
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dellaert
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ce2dcaeb3b
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Tagged union, lightweight
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2014-10-08 15:39:59 +02:00 |
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dellaert
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390842e1f7
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Put Trace in front
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2014-10-08 13:58:15 +02:00 |
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dellaert
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c4a92acde1
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Avoid argument temporaries
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2014-10-07 19:35:44 +02:00 |
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dellaert
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3c1c9c6d12
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Switch to pointers - nice improvement
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2014-10-07 18:11:12 +02:00 |
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dellaert
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e4392c0a3b
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JacobianTrace no longer templated
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2014-10-07 16:11:55 +02:00 |
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dellaert
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83d77271d9
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Ternary now fixed
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2014-10-07 13:04:04 +02:00 |
|
dellaert
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613cb0bb12
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Binary functions now take fixed Jacobians
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2014-10-07 01:01:46 +02:00 |
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dellaert
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e48b38ca21
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Fixing uncalibrate (does not yet compile)
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2014-10-06 15:45:26 +02:00 |
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dellaert
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e5c3f4228a
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Some fixed size in UnaryExpression
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2014-10-06 14:22:18 +02:00 |
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dellaert
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5c96b7f38d
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Made naming more suggestive of AD process rather than generic H1,H2...
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2014-10-06 13:19:01 +02:00 |
Sungtae An
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69f74014aa
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add traceExecution in TernaryExpression
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2014-10-05 17:40:11 -04:00 |
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Sungtae An
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cc3c0fcfec
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add trace structure for reverse AD in TernaryExpression
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2014-10-05 17:38:09 -04:00 |
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Sungtae An
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0421d05d44
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add forward() in TernaryExpression
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2014-10-05 17:36:53 -04:00 |
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Sungtae An
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0a7db2d252
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Merge remote-tracking branch 'origin/feature/BAD' into feature/BAD
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2014-10-05 16:16:19 -04:00 |
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Sungtae An
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40565564f5
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TernaryExpression is added
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2014-10-05 16:09:24 -04:00 |
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dellaert
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632810ff9a
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Now only inline add, for performance
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2014-10-05 21:53:40 +02:00 |
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dellaert
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33c1d072a4
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Add switch between inline add and JacobianMap as a new class.
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2014-10-05 21:49:30 +02:00 |
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dellaert
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5b13306104
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Split out starting the AD process vs. propagating it, is more efficient than starting with a useless identity matrix
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2014-10-05 19:27:52 +02:00 |
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dellaert
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ff9dd8eb8d
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Removed some obsolete code
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2014-10-05 19:09:16 +02:00 |
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dellaert
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caf742d5e1
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Better names
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2014-10-05 17:20:55 +02:00 |
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dellaert
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001504a432
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JacobianTrace base, and avoid copying JacobianMaps.
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2014-10-05 17:12:38 +02:00 |
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dellaert
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2718662467
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Removed debug printing
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2014-10-05 15:01:36 +02:00 |
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dellaert
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fdf9c10b42
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Implemented value and now testBADFactor also runs
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2014-10-05 15:00:10 +02:00 |
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dellaert
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8db2cd17fc
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Finished constant Trace and *everything* just works!!! Amazing :-)
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2014-10-05 13:41:20 +02:00 |
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dellaert
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7c19542245
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Leaf Trace compiles
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2014-10-05 13:37:51 +02:00 |