d788e9833d
Added tests to ensure that configs will only update existing values when using exmap and not add new ones if there are more values in the delta config. VectorConfig and VSLAMConfig both do this properly now.
2009-11-24 15:12:59 +00:00
7d384488e3
BayesTree::update generalized and moved from testIncremental to BayesTree; testIncremental removed
2009-11-22 23:35:13 +00:00
82aae3c161
Some re-factoring (using BOOST_FOREACH to loop over string list), root is now NULL after removing root clique
2009-11-21 21:48:10 +00:00
429f27550c
Added a NonlinearConstraint and testNonlinearConstraint. There is currently an abstract base class for constraints and a partially implemented unary constraint.
2009-11-19 16:50:18 +00:00
ceed2ae17d
symbolic tree in testIncremental
2009-11-18 15:37:19 +00:00
20830a1534
Added testSQP demo to show a simple problem solved by Sequential Quadratic Programming. To see the outputs, set verbose=true at the start of the test.
2009-11-16 19:12:56 +00:00
fc440f823b
New make targets
2009-11-13 06:20:41 +00:00
35bbca7155
Switched make targets to use correct GaussianFactor/Graph
2009-11-13 02:22:50 +00:00
67c2ea8263
NonlinearEquality factor is now working for generic configs. Currently, the feasible point must be specified in the form of a full config with the point in it, but this avoid needing to increase the requirements on the configs.
2009-11-13 02:06:52 +00:00
8bc29cf11b
new target
2009-11-12 23:42:38 +00:00
ef0fc9fbac
added testVSLAMGraph unit test. will fail until we can add a constraint to either one of the two cameras.
2009-11-12 18:54:46 +00:00
c7b86cec97
Renamed ConditionalGaussian -> GaussianConditional
2009-11-12 16:41:18 +00:00
40f8ba740d
Fixed build target references to LinearFactor/Graph
2009-11-12 16:20:30 +00:00
77a1754b69
Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph
2009-11-12 16:16:32 +00:00
f677341108
Moved inference methods to new compilation unit. Added [factor], and [marginalize] now returns a factor graph.
2009-11-12 04:56:30 +00:00
2c37c94b5d
Replaced the householder transform with the weighted system
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Removed constrained components from makefile, they will disappear shortly
2009-11-09 21:34:20 +00:00
df3e5f2416
BIG: eliminate and eliminateOne now doubly templated functions, not methods.
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Minor: Standardized on new shared_ptr naming convention:
shared_factor -> sharedFactor
conditional_ptr -> sharedConditional
node_ptr -> sharedClique
2009-11-07 19:31:39 +00:00
e9d942f81e
BayesNet is now list-based for fast bi-directional access
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SLOW O(n) random access operator[key] provided
(should maybe be called [at] as it does bounds checking)
I also fixed a bug in equals.
2009-11-03 06:29:56 +00:00
eab038651e
Renamed BayesNet::insert -> push_back. BayesTree now uses Bayes nets as nodes.
2009-11-02 05:17:44 +00:00
a8d267c4ca
Small change necessitating lots of edits: Conditionals now include key of random variable
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This simplifies Bayes nets quite a bit. Also created a Conditional base class, derived classes ConditionalGaussian and SymbolicConditional
Finally, some changes were needed because I moved some headers to .cpp
2009-11-02 03:50:30 +00:00
4c48bb08e1
Vector and Matrix updated with improved weighted householder operations and more tests.
2009-10-29 12:52:27 +00:00
a513ae0287
Changed names and moved two LinearFactorGraph functions to FactorGraph
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Added SymbolicFactorGraph compiulation unit and unit tests
Added symbolic combine constructor
2009-10-29 05:39:13 +00:00
b6cee73571
Significant change: Made FactorGraph templated on Factor only, and moved error and probPrime to derived classes
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Moved find_and_remove_factors to base class
Added and tested symbolic factor graph constructor and conversion from any factor graph type
2009-10-29 04:11:23 +00:00
bb15697cf9
Prototype framework for Bayes chain (new name for Chordal Bayes net) and Bayes tree class hierarchy
2009-10-27 20:23:19 +00:00
626d06905c
Removed obsolete optimize call and documented better
2009-10-27 14:14:36 +00:00
4d9ff77249
moved timing example here from EasySLAM
2009-10-27 13:34:36 +00:00
3792c79706
Fixed NonlinearFactor2 equals and added some unit tests for equals
2009-10-24 20:01:47 +00:00
2aec16d3cf
Combined evaluation/derivatives now return the function value instead of using a pointer
2009-10-22 14:44:27 +00:00
82d541f6a3
Fixed wrapper problem
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This was because VectorConfig was parsed as Vector. Just changing the order of the parsers fixed this.
2009-10-17 04:29:14 +00:00
0d66ee8f72
comments only
2009-10-15 14:56:40 +00:00
66dac8a52f
Generalized constraint handling to create a LinearConstraint which implements linear equality constraints that can be eliminated as a part of a ConstrainedLinearFactorGraph. DeltaFunction has been changed to be a ConstrainedConditionalGaussian, which has a more robust solve() function. The new tests no longer use the "constrained" example from smallExample, so those functions have been commented.
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''Limitations: ''
* Any given node can only have one constraint on it, but constraints can be of arbitrary size
* Constraints can only be specified as a blockwise system, where each block must be square and invertible to support arbitrary elimination orderings.
* ConstrainedNonlinearFactorGraph is disabled until a better solution for handling constraints in the nonlinear case is determined.
2009-10-08 13:57:22 +00:00
989f290c99
'''BIG CHANGE''': avoid converting back and to FGConfigs by templating on configuration type. Details:
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* 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
68e20eec2c
2 BIG changes:
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(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
ead3d03866
BIG: replaced optimize in NonlinearFactorGraph with specialized NonlinearOptimizer object. This does away with the artificial ErrorVectorConfig and the like as NonlinearOptimizer is templated and can use "exmap", the exponential map defined for any differentiable manifold.
2009-09-09 04:43:04 +00:00
214637cee9
fixed rodriguez in Rot3
2009-09-03 17:43:02 +00:00
c69d8d9b36
Factor Graph serialization, and renaming of factors -> factors_
2009-08-31 02:40:26 +00:00
3432b6c50f
new Pose2 class
2009-08-29 01:24:26 +00:00
af6d98253f
solve is now const
2009-08-27 01:23:05 +00:00
4911fbd6ff
check target
2009-08-26 23:07:29 +00:00
dcff7be2f0
added $(HOME)/include in Eclipse paths so tests are correctly parsed
2009-08-24 04:22:42 +00:00
2ed5cc31bf
Fixing file locations
2009-08-21 22:25:43 +00:00
Alex Cunningham
Michael Kaess
Frank Dellaert
Chris Beall
Alireza Fathi
Richard Roberts