9f765c7496
micro cleanup
2014-11-09 10:27:23 +01:00
6cfc4c45d2
* implemented traits::identity for Eigen matrices
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* simplified the traits::dimension for Eigen matrices
* added some tests for traits::identity and traits::zero
* got rid of a compiler warning (signed vs. unsigned) in Matrix.cpp
2014-11-08 13:51:24 +01:00
90ec6b1452
reverted extra spaces which were added in last commit
2014-11-07 12:11:08 +01:00
bd3f9db7df
inlined a fully specialized function template defined in a .hpp
2014-11-07 11:37:27 +01:00
a94835a2e4
Merge remote-tracking branch 'origin/develop' into feature/BAD
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Conflicts:
.cproject
gtsam/geometry/Cal3DS2.cpp
gtsam/geometry/Cal3DS2.h
gtsam/geometry/Cal3Unified.h
gtsam/navigation/CombinedImuFactor.h
gtsam/navigation/ImuFactor.h
gtsam/nonlinear/NonlinearFactor.h
gtsam/slam/tests/testPoseRotationPrior.cpp
Modified: testGaussMarkov1stOrderFactor.cpp, testPoseRotationPrior.cpp
2014-11-04 17:04:57 +01:00
7d57d91fec
Most of LieXXX is gone, greatly simplifies code. All tests pass.
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Merge remote-tracking branch 'origin/feature/BAD_noLieXX' into feature/BAD
2014-11-04 15:50:33 +01:00
3824fe5f90
Fixed assert_equal and warnings
2014-11-04 15:48:30 +01:00
efc2dc69fe
Got rid of some concats
2014-11-04 15:44:41 +01:00
c332a44c5e
No more LieVector
2014-11-04 15:44:20 +01:00
62cc0344ea
Added target
2014-11-04 15:43:48 +01:00
dce8a6c341
Improved error message
2014-11-04 15:43:32 +01:00
4afe132b1a
Fixed dimensions of Vectors
2014-11-04 15:41:14 +01:00
8b86626113
Added test
2014-11-04 14:27:55 +01:00
d06de2f044
Reverted to LieScalar until Prior and Between factors fixed
2014-11-04 14:26:50 +01:00
9b0298d148
Allow for empty noiseModel_ again (although, dim breaks)
2014-11-04 14:26:25 +01:00
da3677e704
No more LieVector/LieScalar
2014-11-03 13:52:08 +01:00
f1dd554a9d
No more LieVector (too much copy/paste here)
2014-11-03 13:38:25 +01:00
2a745b6c26
No more LieVector/LieScalar
2014-11-03 13:32:58 +01:00
39ce31d0cc
No more LieVector
2014-11-03 13:15:41 +01:00
c212ba0984
Avoid warnings
2014-11-03 11:50:21 +01:00
6a08370a8a
Avoid warnings
2014-11-03 11:17:42 +01:00
97a8618614
equals and print have to be function objects to do partial specialization to double and Eigen::Matrix.
2014-11-03 11:16:38 +01:00
b5327673fb
Get rid of LieVector
2014-11-03 11:02:15 +01:00
e2c8e2620b
Avoid warnings
2014-11-03 11:01:59 +01:00
d29a29099b
equals and print have to be function objects to do partial specialization to double and Eigen::Matrix.
2014-11-03 11:01:49 +01:00
262bb145b6
Merge remote-tracking branch 'origin/feature/BAD' into feature/BAD_noLieXX
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Conflicts:
gtsam/base/Manifold.h
2014-11-03 09:57:51 +01:00
329e7f1383
Comments, formatting, some TODO questions
2014-11-03 09:55:53 +01:00
492c607f9e
No more Lie types
2014-11-03 09:27:40 +01:00
64d0a3b4dc
equals and print for Matrix types
2014-11-03 09:27:05 +01:00
e0c4d84dd7
Fixed some tests/warnings in quaternion mode
2014-11-03 00:59:19 +01:00
ff036ac05c
Merged in feature/BAD_generic_value_traits (pull request #24 )
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GenericValue to replace DerivedValue
2014-11-03 00:09:08 +01:00
11416cac65
Merge branch 'feature/BAD' into feature/BAD_generic_value_traits
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Conflicts:
gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
2014-11-02 19:00:30 +01:00
17d352bab4
Slight re-factor
2014-11-02 14:42:59 +01:00
d2f56b13ed
Non-trivial noise models now correctly handled (at a small performance penalty, due to malloc of Vector b).
2014-11-02 14:37:52 +01:00
8a6d8bfc82
Back to single
2014-11-02 14:35:32 +01:00
d0e004c05f
No this-> needed
2014-11-02 14:35:22 +01:00
90a0fa6e45
Check if active
2014-11-02 13:53:22 +01:00
a8ab910c32
Merged twio changes in: the is_constrained() flag that does away with the dynamic cast, and the changes duy made in commit a61b49d to remove the constrained noise model hack. At the same time, both linearize methods (in expressionFactor and NonlinearFactor) now make use of is_constrained().
2014-11-02 13:45:54 +01:00
b21db08ec1
Fixed small issue, should not assign to reference in case of Quaternions.
2014-11-02 13:03:36 +01:00
d4dcf90bd1
SUPERFAST linearize, by pre-allocating the JacobianFactor and writing into it.
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Merging local branch 'feature/BAD_WriteableJacobianFactor' into feature/BAD
2014-11-02 13:00:08 +01:00
049631e530
Avoid re-allocating vertical offsets
2014-11-02 12:57:13 +01:00
b9e3c3b116
Made unsafe constructor private, but made ExpressionFactor<T> a friend.
2014-11-02 12:01:52 +01:00
cb69f2cb82
Fastest linearize so far. Putting 'unsafe' constructor in JacobianFactor itself makes a *huge* difference.
2014-11-02 11:40:48 +01:00
a1c6c3cbe5
Merged in feature/BAD_VerticalBlockMatrix (pull request #29 )
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Straight copy into VerticalBlockMatrix
2014-11-01 19:26:14 +01:00
95e59d7c5d
Fixed the last failing unit test
2014-11-01 19:23:07 +01:00
7aaf4dae8c
Merge remote-tracking branch 'origin/feature/BAD_VerticalBlockMatrix' into feature/BAD_WriteableJacobianFactor
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Conflicts:
gtsam_unstable/nonlinear/ExpressionFactor.h
2014-11-01 17:45:23 +01:00
7debde7518
Moved to ExpressionFactor that now uses it - timing seems worse ?
2014-11-01 15:12:06 +01:00
12e38a44e4
WriteableJacobianFactor will allow ExpressionFactor to write into the factor directly, (hopefull) eliminating huge overhead.
2014-11-01 14:13:08 +01:00
a4fa61a7a4
Removed JacobianMap tests
2014-11-01 11:56:38 +01:00
f38b0b0eed
Fixed unwhitenedError
2014-11-01 11:50:28 +01:00
HannesSommer
Renaud Dube
dellaert
Mike Bosse
Paul Furgale