b85ebb501d
restructuring code to utilize functions and reduce size of primary script
2014-04-16 15:01:12 -04:00
7fb9f47072
Fix gtsam's old segfault bug in JacobianFactor::isConstrained: return false if it has no noisemodel. Test Nocedal06book, example 16.4, pg 475 passed.
2014-04-15 17:28:23 -04:00
02ac8d23b0
Test with Matlab's QP example
2014-04-15 16:47:07 -04:00
cbda04a96d
disable printing
2014-04-15 16:37:32 -04:00
90ec933da3
refactor QPSolver into its own class
2014-04-15 16:27:19 -04:00
47255fbab6
Detailed comments for choosing the step size
2014-04-15 16:03:14 -04:00
495b7ba099
Detailed comments about the lambda<0 condition for good ineq <=0 constraints, wrt the Lagrangian L = f(x) - lambda*c(x)
2014-04-15 15:14:10 -04:00
b07b431ac0
first ineq QP test passed!
2014-04-15 13:55:24 -04:00
22cbe326e3
fix bug in weightedPseudoInverse dealing with negative weights of ineq constraints
2014-04-15 13:55:04 -04:00
8367d45e48
improved matlab code for consistency check
2014-04-15 12:12:39 -04:00
765c5a534e
Merge branch 'origin/feature/new_imu_factors'
2014-04-15 11:07:12 -04:00
e232b6085b
wrapping smart factors
2014-04-15 11:06:38 -04:00
75b042bbcd
Working on IMU factors. made changes to noise
2014-04-15 11:05:43 -04:00
bd218feada
Merge branch 'develop'
2014-04-15 10:57:20 -04:00
f63db8859b
addind wrapper for smart factors
2014-04-15 10:56:17 -04:00
825eff0d49
small improvement on negative weights
2014-04-15 06:11:26 -04:00
dc31ef143a
fix bug in NoiseModel signs for ineq weights. Unittest dual graph
2014-04-15 06:07:41 -04:00
c2378204ef
QPSolver in progress. Finish building dual graph, but not tested.
...
Use mixed constrained noise with sigma < 0 to denote inequalities.
Working set implements the active set method, turning inactive inequalities
to active one as equality constraints by setting their corresponding sigmas to 0
and vice versa. Dual graph now has to deal with mixed sigmas.
2014-04-14 22:57:55 -04:00
97dd2fb931
Added camera factors to ground truth creation
2014-04-14 14:38:20 -04:00
926b4c6443
removed temporary variables - minor
2014-04-14 11:41:55 -04:00
fe81828a2c
add Serialization function to Unit3 and EssentialMatrix classes
2014-04-11 15:33:35 -04:00
f38d8d7c83
completed test infrastructure for simulated and real consistency tests
2014-04-10 22:56:46 -04:00
46c6d41cd6
fixed test on real data (gt)
2014-04-10 22:00:07 -04:00
24157ca124
working on imu test
2014-04-10 19:26:53 -04:00
c20dd18ab7
renaming
2014-04-10 18:48:29 -04:00
a92b3b2339
Added IMU factors to ground truth factor graph.
2014-04-10 13:26:10 -04:00
6ef11bb297
removed debug statements
2014-04-09 21:14:38 -04:00
4bdefc3f70
removed debug bloks
2014-04-09 21:04:52 -04:00
dc7b5d58c0
implemented efficient update of Hessian matrix via Schur complement
2014-04-09 21:01:03 -04:00
d8fafce224
minor changes to cout when verbosity is TRYLAMBDA
2014-04-09 21:00:38 -04:00
a58d00c0f9
Fixed bug
2014-04-09 11:34:59 -04:00
4123053c81
progress on grouping - still seg faults
2014-04-08 18:55:42 -04:00
d677d1781d
Added flag to use scenario 2 ground truth data
2014-04-07 23:12:31 -04:00
ed6788fff4
fixed bug
2014-04-07 11:56:22 -04:00
dfda7fad89
minor changes to matlab covariance test
2014-04-06 21:43:53 -04:00
d325fd1251
working covariance example
2014-04-06 21:05:13 -04:00
e4f2d39a35
Merge branch 'feature/smartFactors'
2014-04-06 14:43:49 -04:00
c2069a26cd
Merge branch 'feature/LevenbergMarquardt'
2014-04-06 14:35:52 -04:00
2908197f1a
Merge branch 'develop'
2014-04-06 14:35:32 -04:00
08a54ee470
Merge branch 'develop'
2014-04-06 14:28:09 -04:00
bfff17fd05
Merge branch 'origin/feature/LevenbergMarquardt'
2014-04-06 14:26:54 -04:00
310fce3be9
last updates from smartFactors project (these files are now removed from that project)
2014-04-06 14:25:46 -04:00
d394ec5574
Added ground truth factor graph creation. Added OdometryExample3D as a modified version of OdometryExample for reference (can be removed later)
2014-04-04 17:00:20 -04:00
e98b90bd2a
Make building of metis/partition optional via cmake flag
2014-04-04 15:49:04 -04:00
51248072f9
fixed bug in hessianDiagonal (raw access)
2014-04-03 17:50:52 -04:00
93458eaeff
Added flag for second order coriolis terms (default is false)
2014-04-03 16:52:04 -04:00
49c11e8fa7
Remove warning flag
2014-04-03 16:35:10 -04:00
268bc189ce
Detect clang to prevent issues with llvm
2014-04-03 16:31:55 -04:00
eaf298bd18
starting covariance analysis on between factors (monte carlo runs)
2014-04-03 11:34:26 -04:00
cb3cec3789
Replaced static variable counter inside ISAM2 update() with a member variable to avoid a bug where if multiple instances of ISAM2 are running in the same process, the counter gets incremented in each of them, resulting in very difficult to debug failures.
2014-03-27 16:15:29 -04:00
djensen3
thduynguyen
Luca
jing
Andrew Melim
Alex Cunningham