dellaert
|
e48b38ca21
|
Fixing uncalibrate (does not yet compile)
|
2014-10-06 15:45:26 +02:00 |
|
dellaert
|
e5c3f4228a
|
Some fixed size in UnaryExpression
|
2014-10-06 14:22:18 +02:00 |
|
dellaert
|
5c96b7f38d
|
Made naming more suggestive of AD process rather than generic H1,H2...
|
2014-10-06 13:19:01 +02:00 |
|
dellaert
|
0ed96dda33
|
Avoid alloc and copy
|
2014-10-06 12:14:15 +02:00 |
|
dellaert
|
c748fdb404
|
Re-did with move semantics. Dangerously imperative.
|
2014-10-06 12:13:52 +02:00 |
Sungtae An
|
69f74014aa
|
add traceExecution in TernaryExpression
|
2014-10-05 17:40:11 -04:00 |
|
Sungtae An
|
cc3c0fcfec
|
add trace structure for reverse AD in TernaryExpression
|
2014-10-05 17:38:09 -04:00 |
|
Sungtae An
|
0421d05d44
|
add forward() in TernaryExpression
|
2014-10-05 17:36:53 -04:00 |
|
Sungtae An
|
0a7db2d252
|
Merge remote-tracking branch 'origin/feature/BAD' into feature/BAD
|
2014-10-05 16:16:19 -04:00 |
|
Sungtae An
|
40565564f5
|
TernaryExpression is added
|
2014-10-05 16:09:24 -04:00 |
|
dellaert
|
632810ff9a
|
Now only inline add, for performance
|
2014-10-05 21:53:40 +02:00 |
|
dellaert
|
33c1d072a4
|
Add switch between inline add and JacobianMap as a new class.
|
2014-10-05 21:49:30 +02:00 |
|
dellaert
|
5b13306104
|
Split out starting the AD process vs. propagating it, is more efficient than starting with a useless identity matrix
|
2014-10-05 19:27:52 +02:00 |
|
dellaert
|
ff9dd8eb8d
|
Removed some obsolete code
|
2014-10-05 19:09:16 +02:00 |
|
dellaert
|
caf742d5e1
|
Better names
|
2014-10-05 17:20:55 +02:00 |
|
dellaert
|
001504a432
|
JacobianTrace base, and avoid copying JacobianMaps.
|
2014-10-05 17:12:38 +02:00 |
|
dellaert
|
2718662467
|
Removed debug printing
|
2014-10-05 15:01:36 +02:00 |
|
dellaert
|
fdf9c10b42
|
Implemented value and now testBADFactor also runs
|
2014-10-05 15:00:10 +02:00 |
|
dellaert
|
8db2cd17fc
|
Finished constant Trace and *everything* just works!!! Amazing :-)
|
2014-10-05 13:41:20 +02:00 |
|
dellaert
|
7c19542245
|
Leaf Trace compiles
|
2014-10-05 13:37:51 +02:00 |
|
dellaert
|
75445307b2
|
Unary Trace done
|
2014-10-05 13:33:23 +02:00 |
|
dellaert
|
8e527a2251
|
Binary Trace compiles, runs
|
2014-10-05 13:27:41 +02:00 |
|
dellaert
|
303d37a716
|
Separate hierarchy
|
2014-10-05 11:22:14 +02:00 |
|
dellaert
|
6fb10a5de9
|
Rename, emphasizing is forward AD
|
2014-10-03 21:13:34 +02:00 |
|
dellaert
|
a5b92f0342
|
MUCH simpler by just using boost::bind to turn methods into functions
|
2014-10-03 13:18:25 +02:00 |
|
dellaert
|
bdf5451565
|
Typedefs
|
2014-10-03 12:52:35 +02:00 |
|
dellaert
|
c8dd361080
|
Common base class BinaryExpression
|
2014-10-03 12:48:28 +02:00 |
|
dellaert
|
987b123ec9
|
NullaryMethodExpression and UnaryFunctionExpression, derived from UnaryExpression
|
2014-10-03 12:40:26 +02:00 |
|
dellaert
|
aefad1e548
|
MAJOR refactor: I now use separate functions for value (only) and "augmented", for combined value-derivatives. The latter returns a new templated class, Augmented<T>.
|
2014-10-03 10:25:02 +02:00 |
|
dellaert
|
da4cfe6fdc
|
ternary test
|
2014-10-02 23:39:17 +02:00 |
|
dellaert
|
59af1c4b6d
|
Major refactor that does not ask for derivatives when argument is constant. Also split combine into double add, added print, and moved those two statics to ExpressionNode.
|
2014-10-02 23:28:19 +02:00 |
|
dellaert
|
166396d6f6
|
Added tests with constant Expression
|
2014-10-02 23:26:59 +02:00 |
|
dellaert
|
e7e7b3806f
|
New test with constant argument
|
2014-10-02 20:28:37 +02:00 |
|
dellaert
|
df17758469
|
Assume H pre-allocated as usual, and *move* Jacobians to avoid allocations
|
2014-10-02 13:30:16 +02:00 |
|
dellaert
|
ebb091d390
|
BadFactor is now a functioning NoiseModelFactor
|
2014-10-02 11:01:39 +02:00 |
|
dellaert
|
ce53346a9e
|
Added Symbol versions
|
2014-10-01 13:12:07 +02:00 |
|
dellaert
|
0d94eeb480
|
Created expressions.h header
|
2014-10-01 11:25:49 +02:00 |
|
dellaert
|
254f8c5f75
|
Possible naming convention
|
2014-10-01 11:01:38 +02:00 |
|
dellaert
|
a6c1ba19cc
|
Concise version
|
2014-10-01 10:53:35 +02:00 |
|
dellaert
|
d45250a989
|
Fixed dim
|
2014-10-01 10:45:57 +02:00 |
|
dellaert
|
d935172ac5
|
Tightened
|
2014-10-01 10:43:03 +02:00 |
|
dellaert
|
8f6eae922a
|
Tightened/cleaned up
|
2014-10-01 10:36:24 +02:00 |
Paul Furgale
|
837b2a6bc0
|
Fixed the member function with very ugly syntax
|
2014-09-30 23:13:07 +02:00 |
|
dellaert
|
c68c2d2dac
|
Prototype code for passing methods. Does not work (uncomment line 61)
|
2014-09-30 13:19:44 +02:00 |
|
dellaert
|
ae17f8a82f
|
Some refactoring, new static method "combine"
|
2014-09-30 13:00:37 +02:00 |
|
dellaert
|
374140abb8
|
Moved all BAD stuff to nonlinear
|
2014-09-30 12:34:03 +02:00 |
|
dellaert
|
1aa7b570f9
|
Added BADFactor header and created new test
|
2014-09-30 12:30:15 +02:00 |
cbeall3
|
0450c58d66
|
silence warning
|
2014-05-06 12:06:07 -04:00 |
Richard Roberts
|
ed8b1eeaa1
|
Converted another loop to use insert like was fixed in the previous commit (wasn't a problem this time but am matching the style to the other file)
|
2014-02-24 09:29:30 -05:00 |
|
cbeall3
|
3e0904e250
|
remove unneeded/wasteful loop
|
2014-02-23 23:12:25 -05:00 |