Richard Roberts
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eeef9eab32
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Generating config.h file in CMake with quaternion mode flag, dataset paths. Also added CMake option to use system-installed Eigen, which works by generating a global eigen include file containing the corresponding include paths.
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2013-04-25 15:57:15 +00:00 |
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Richard Roberts
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89b50e7679
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Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
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2012-10-02 20:18:41 +00:00 |
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Richard Roberts
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4876cc7ff7
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Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list)
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2012-10-02 18:36:39 +00:00 |
Chris Beall
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4297d24c96
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changed tabs to spaces for consistent indentation in all of GTSAM
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2012-10-02 14:40:07 +00:00 |
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Richard Roberts
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6769850689
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Fixed missing case from a couple commits ago
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2012-08-22 22:40:35 +00:00 |
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Richard Roberts
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1dbda3f7ed
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Standardized and corrected error handling on the linear size - underconstrained and negative systems always throw IndeterminantLinearSystemException, and all assertions checking for infinite values are removed. Also, we were not properly checking the result of Eigen's Cholesky, so sometimes elimination continued with incorrect matrices despite being underconstrained when Cholesky failed but did not produce NaN's.
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2012-08-22 22:40:27 +00:00 |
Alex Cunningham
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9b473023e6
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Fixed warnings
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2012-06-23 18:12:15 +00:00 |
Frank Dellaert
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39aec060ae
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removed bind.h include
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2012-06-07 13:18:17 +00:00 |
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Richard Roberts
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25a53815e0
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Initial changes to compile on windows
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2012-05-22 22:52:08 +00:00 |
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Richard Roberts
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1ce95c1d89
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Removed LDL in favor of Cholesky
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2012-05-15 15:49:14 +00:00 |
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Richard Roberts
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099f170bf2
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Better error message when trying to convert a negative HessianFactor to a JacobianFactor
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2012-01-20 17:20:56 +00:00 |
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Richard Roberts
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5d9a427f0a
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Automatic damping in LDL, disabled by default
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2012-01-14 01:58:28 +00:00 |
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Chris Beall
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3cb1d27d4b
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Made LDL debugging slightly more verbose
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2011-12-08 18:57:19 +00:00 |
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Alex Cunningham
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5d2790aa5e
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Added fixme comments in LDL
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2011-11-18 19:38:55 +00:00 |
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Alex Cunningham
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eebef44efd
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Disabled use of non-gtsam-namespace Vector and Matrix in wrap/matlab.h, removed two typeof uses (one more to go)
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2011-10-21 20:42:25 +00:00 |
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Richard Roberts
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019892b900
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A bit more debug info in ldlPartial
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2011-09-23 02:26:29 +00:00 |
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Richard Roberts
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93c601d03c
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Added detail to NegativeMatrixException
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2011-09-14 19:46:20 +00:00 |
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Richard Roberts
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fd4c4fda5d
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Removed spurious printing when increasing lambda due to negative matrix
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2011-09-09 01:56:41 +00:00 |
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Frank Dellaert
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5cc106a24b
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Documentation and creation of Doxygen module "base"
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2011-09-07 05:01:46 +00:00 |
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Richard Roberts
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b57210efcc
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Levenberg-Marquardt increases lambda when the Hessian is indefinite or negative by catching an exception
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2011-08-24 20:51:54 +00:00 |
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Alex Cunningham
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c81b1e1617
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temporarily removed 3rd party libraries
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2011-06-17 15:10:35 +00:00 |
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Alex Cunningham
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fa4faa274a
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Merge branch 'prep_0.9.3'
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2011-06-13 16:55:31 +00:00 |
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Alex Cunningham
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a22586362b
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Changed the default Matrix to use column major, rather than row major. Removed Matrix-inl.h, as it isn't used
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2011-06-04 22:15:23 +00:00 |
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Alex Cunningham
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2e942f08ac
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Removed some extraneous comments from eigen transition
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2011-05-20 18:43:37 +00:00 |
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Alex Cunningham
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e20561be73
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Merge branch 'eigen'
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2011-05-20 13:52:08 +00:00 |
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Richard Roberts
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09f25edcbb
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Fixed warnings, comments, and removed redundant debug code in Cholesky
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2011-02-15 15:21:09 +00:00 |
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Richard Roberts
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0648605f2f
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Dense Cholesky solving now uses Eigen
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2011-02-06 19:42:15 +00:00 |
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Richard Roberts
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ea2f0e10e1
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Improved timing statements
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2011-02-04 22:31:12 +00:00 |
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Richard Roberts
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a208515055
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Made zero thresholds in Cholesky smaller to fix failing unit test
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2011-02-04 02:38:35 +00:00 |
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Richard Roberts
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f89262bd13
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Option to use careful Cholesky instead of lapack Cholesky, more debug checks in Cholesky, and addional use of ublas instead of regular blas.
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2011-02-04 01:05:52 +00:00 |
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Richard Roberts
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d4e248debc
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Missing include
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2011-02-04 00:53:00 +00:00 |
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Richard Roberts
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3dc36369d9
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Added a "matrix order" parameter to choleskyCareful so that it can be used to factor the frontal piece in choleskyPartial. choleskyCareful also now returns a bool indicating whether the input matrix is full-rank. Also added an additional Cholesky unit test.
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2011-02-04 00:47:08 +00:00 |
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Richard Roberts
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62aa7a6681
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Changed problematic blas call to ublas - was sometimes producing incorrect results but I do not know why :-(
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2011-02-04 00:00:31 +00:00 |
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Richard Roberts
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4880257e69
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Merging hessianfactor branch, Cholesky is now default and GaussianFactor is virtual (see email to frankcvs)
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2011-01-20 22:22:00 +00:00 |
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Richard Roberts
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a8a584d38e
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Rolling back last commit (undoing merge of hessianfactor branch) - does not compile on Linux, could be compiler or boost version problems. Also will probably break Alex's stuff so will work that out before merging.
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2010-12-17 01:11:28 +00:00 |
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Richard Roberts
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de1892016d
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Merged in hessianfactor branch, Cholesky is now default. This merge also includes improved timing statements with automatic outlining and low overhead
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2010-12-17 00:51:51 +00:00 |
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Richard Roberts
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5e00148315
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Cholesky working but disabled by default
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2010-11-29 01:31:51 +00:00 |
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Richard Roberts
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0fdc384089
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Added a debug printing switch in Cholesky
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2010-11-19 16:27:08 +00:00 |
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Frank Dellaert
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93deac972c
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Better error message
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2010-11-08 20:34:12 +00:00 |
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Richard Roberts
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fd597762c7
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In-progress integrating Cholesky into solving
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2010-11-08 19:31:40 +00:00 |
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Richard Roberts
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ae8c59bc4c
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clapack.h not present in Linux
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2010-11-06 21:30:14 +00:00 |
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Richard Roberts
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0013911960
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Code to factor rank-deficient A matrices using Cholesky, not yet used by GaussianFactor
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2010-11-06 21:06:52 +00:00 |