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68 Commits (a2c3b8e0833f22ed001bc0f00a8044ba84398f30)

Author SHA1 Message Date
jing a2c3b8e083 remove changes in gtsam/linear/NoiseModel.cpp to fix unit test failures 2014-01-27 15:13:37 -05:00
dellaert 837085e5d4 Merge branch 'origin/release/2.4.0' 2014-01-25 11:45:59 -05:00
Alex Cunningham b08e889222 removed assertion that apparently fails in a bunch of places 2014-01-04 20:13:00 -05:00
Alex Cunningham dfb3e60171 Fixed issue with serialization by actively changing inf/nan values to zero in constrained noisemodel. Updated WhitenInPlace() and distance(). Apparently this caused a bunch of other unit tests to fail, though. 2014-01-04 20:01:05 -05:00
Frank Dellaert f8fbfaea50 Use precisions_ where possible 2014-01-04 10:14:59 -05:00
Frank Dellaert a3003a0736 Merge branch 'origin/release/2.4.0' 
Mainly improvements in EssentialMatrix stuff, but also has the new precisions in the diagonal noise model.
 2014-01-04 00:29:32 -05:00
Frank Dellaert 6f64b20a5b The precisions are used many many times in HessianFactor::updatATA, so I added them to the NoiseModel. The invsigmas are no longer optional and hence do not cause extra allocation at every invocation. Same with precision: returns const & 2014-01-02 18:05:44 -05:00
Frank Dellaert d5271dfff7 fixed warning 2013-10-30 12:08:58 +00:00
Richard Roberts 2e3520e0dd Fixed some warnings 2013-10-12 21:06:19 +00:00
Richard Roberts bf40956592 Merged from Hmf6_unordered 970392249a8c50153f24594c9c81acb740cedd06 2013-10-03 19:51:56 +00:00
Richard Roberts 2ad0cd4417 Fixed compile error on linux 2013-10-03 19:10:13 +00:00
Richard Roberts 19602bbb0b Fixed warning 2013-10-03 16:50:18 +00:00
Richard Roberts 95ac34aeeb Updating Hessian in-place instead of computing Hessian for each Jacobian 2013-10-03 16:50:16 +00:00
Duy-Nguyen Ta 63ff1b47c1 support augmented matrices in Matrix's vector_scale_in_place, Constrained's Whiten, WhitenInPlace, and unit(...). These are used in constraints SQP solver with Lagrange multipliers. 2013-10-02 03:52:08 +00:00
Richard Roberts 0bb5d1595d Added Cauchy noise model contributed by Jan Oberländer 2013-09-16 20:58:58 +00:00
Richard Roberts e2f8dd866d Merge branch 'svn/trunk' 
Conflicts:
	gtsam/linear/GaussianBayesTree.cpp
	gtsam/linear/GaussianBayesTree.h
	gtsam/linear/VectorValues.h
	gtsam/linear/tests/testVectorValues.cpp
	gtsam_unstable/nonlinear/sequentialSummarization.cpp
 2013-08-06 18:33:24 +00:00
Alex Cunningham cee0a234ac Fixing compile problems 2013-08-06 17:50:50 +00:00
Duy-Nguyen Ta ef99e1bf1a add some comments for Constrained model 2013-08-02 13:29:54 +00:00
Richard Roberts 941cd93bf6 Returning empty noise model from QR and fix for backwards-compatibility in old code 2013-07-12 22:27:44 +00:00
Richard Roberts 4718acdabc Put back returning Unit model instead of null from QR for compatibility with old code 2013-07-09 17:50:47 +00:00
Richard Roberts 316befbd2a Added tic 2013-07-01 20:19:28 +00:00
Duy-Nguyen Ta 6eafc9420e update namespace mEstimator for unittests 2013-02-08 00:47:52 +00:00
Duy-Nguyen Ta 25226602c3 change namespace "MEstimator" to "mEstimator" to wrap robust noise models to matlab. Add Tukey. 2013-02-07 19:19:33 +00:00
Richard Roberts 89b50e7679 Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc 2012-10-02 20:18:41 +00:00
Richard Roberts 4876cc7ff7 Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list) 2012-10-02 18:36:39 +00:00
Chris Beall 4297d24c96 changed tabs to spaces for consistent indentation in all of GTSAM 2012-10-02 14:40:07 +00:00
Richard Roberts c323f41e8f Fixed silently ignoring robust noise model when calling whiten on one - now throws exception. Also added function to whiten only the rhs vector in robust noise models. 2012-09-25 18:45:28 +00:00
Richard Roberts 7d02043855 Removed unused include 2012-08-27 13:21:48 +00:00
Richard Roberts 5ddd28ba18 Removed unused noise model cholesky 2012-08-22 22:40:20 +00:00
Richard Roberts b6ddb2197b Removed unused "zero_below_diagonal" flag in Matrix QR 2012-08-22 22:40:04 +00:00
Duy-Nguyen Ta 6f1ea87a00 clean up noise model: Remove Shared[NoiseModel] classes and headers, typedef for backward compatibility in NoiseModel.h. Fix all tests and examples to create shared noise models through static functions in noise model classes. Fix MATLAB wrapper and examples as well. Add tests for MATLAB examples 2012-06-22 19:36:49 +00:00
Alex Cunningham 18ba9bcb3d Removed sample() functions and global random number generator 2012-06-22 16:38:01 +00:00
Duy-Nguyen Ta 0a3d9975f3 adding smart flags for several static noise model creation function 2012-06-19 06:04:31 +00:00
Richard Roberts dacff98f9f Using boost timer instead of chrono to support older boost versions 2012-06-05 20:03:31 +00:00
Frank Dellaert 861d1d7dbd Fixed small formatting glitches 2012-05-21 05:17:35 +00:00
Richard Roberts 08b87be4b5 Fixed parenthesis typos 2012-04-09 13:21:14 +00:00
Alex Cunningham 0fe13ae3ca Fixed noisemodel compile error, moved remaining nonlinear constraints to NonlinearEquality 2011-11-10 02:05:03 +00:00
Alex Cunningham 98410ca5c9 Merge branch 'unified_constraints' 
Conflicts:
	gtsam/linear/NoiseModel.cpp
	gtsam/linear/NoiseModel.h
	gtsam/linear/tests/testNoiseModel.cpp
 2011-11-09 22:15:40 +00:00
Alex Cunningham 70afdfb7d3 Added mu to noisemodel 2011-11-09 22:09:52 +00:00
Frank Dellaert 5a7b2e0692 Added default string to print methods 2011-11-05 14:26:41 +00:00
Richard Roberts af3c12a7df Implemented N-way factor base class in NoiseModelFactor, added NonlinearFactor{3-6}, adapted NonlinearFactor1,2,3 and NonlinearConstraint1,2,3 to derive from NoiseModelFactor in a minimal way 2011-10-03 04:24:24 +00:00
Yong-Dian Jian b456733cd0 add comments and unit test 2011-09-11 04:39:28 +00:00
Frank Dellaert 24ea02fe69 Documentation and TODO 2011-09-09 21:16:57 +00:00
Yong-Dian Jian e9504bd470 add a null model for comparison 2011-08-29 04:51:17 +00:00
Yong-Dian Jian 25cd24409a add an option to reweight according to scalar or block 2011-08-28 02:47:17 +00:00
Yong-Dian Jian fd07d61a2e Add a robust noise model. Change SharedGaussian to SharedNoiseModel 2011-08-26 21:41:01 +00:00
Alex Cunningham a22586362b Changed the default Matrix to use column major, rather than row major. Removed Matrix-inl.h, as it isn't used 2011-06-04 22:15:23 +00:00
Alex Cunningham 2e942f08ac Removed some extraneous comments from eigen transition 2011-05-20 18:43:37 +00:00
Alex Cunningham e20561be73 Merge branch 'eigen' 2011-05-20 13:52:08 +00:00
Alex Cunningham fc3b668171 Removed boost.serialization export keys from noisemodel because they don't work outside of one test 2011-03-08 18:13:49 +00:00