a4d61d2f23
Little performance twiddles that make little difference
2010-01-16 07:22:34 +00:00
a8afe0da7c
Forgot pre-multiply of error vector
2010-01-16 07:00:07 +00:00
91a0fb23df
Weighted pseudo-inverse now takes weights (1/sigma^2). Does not make a lot of performance difference.
2010-01-16 06:25:11 +00:00
fce2a668bb
uncomment the commented out unit tests during debugging
2010-01-16 05:10:07 +00:00
f5a6a10feb
debug hard constraint and make pose2prior work
2010-01-16 05:08:29 +00:00
fb3e38b161
25% performance increase by improving weighted_eliminate
2010-01-16 04:57:58 +00:00
26246188af
Added planar graph to timing script
2010-01-16 04:46:35 +00:00
a4ed0a191d
Forgotten header numericalDerivative.h
2010-01-16 04:22:41 +00:00
07c7c4c0bd
print size with ordering
2010-01-16 04:22:21 +00:00
a956c1a8be
svn restored from 1733.
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this commit updates gtsam to version 1774, which now appears as 1734.
2010-01-16 01:16:59 +00:00
5c0cd093fd
moved relative_bearing to Rot2, changed derivatives to new-style
2010-01-14 16:57:48 +00:00
53a03a0021
Changed signature of tree insert
2010-01-14 16:05:04 +00:00
f645b560ea
Added constructor body
2010-01-14 15:35:23 +00:00
c7e0fe9fd8
fixed template instantiation
2010-01-14 15:32:14 +00:00
e7bf219498
removed .cpp
2010-01-14 15:31:58 +00:00
25372aaa12
c_str
2010-01-14 15:31:42 +00:00
e1388c0f0d
add Ordering-inl.h
2010-01-14 07:56:03 +00:00
dd697a838d
added TupleConfig.h as header
2010-01-14 06:20:34 +00:00
df62213619
RangeFactor works
2010-01-14 06:00:17 +00:00
a552ba4539
Comments/formatting only
2010-01-14 05:59:33 +00:00
8088aea598
Added double as Lie type, needed to remove Lie.h include from Vector.h
2010-01-14 05:58:58 +00:00
1519d029dc
use PredecessorMap instead of map<Key,Key>
2010-01-14 05:24:20 +00:00
8562c00a52
Explicit instantiation to fix link error on Linux, also header to install that was missing from Makefile.am
2010-01-14 05:01:40 +00:00
9bf6409b16
BearingFactor works
2010-01-14 04:35:18 +00:00
32626b3391
bug fix (only worked on Mac)
2010-01-14 03:42:34 +00:00
68d90772e6
ordering is fixed
2010-01-14 03:21:07 +00:00
ac10c440e1
PairConfig is implemented, VSLAMConfig is now a typedef!
2010-01-14 02:58:29 +00:00
6b3e8cf49c
simulated2D now reduced to one .h and .cpp, in its own namespace, better naming, and new-style functions to serve as example
2010-01-14 02:50:06 +00:00
fca2de8f95
fix unit test
2010-01-14 02:21:14 +00:00
7ad114c72f
problem with predecessorMap2Graph
2010-01-14 02:16:29 +00:00
63440f937f
almost fixed oredering except one function call
2010-01-14 02:07:14 +00:00
5a02b36723
Solved some linking problems
2010-01-14 01:44:00 +00:00
6c7dfabe5b
remove template class G and V from predecessorMap2Graph as Frank suggested
2010-01-14 01:25:40 +00:00
3c66861790
fix the graph related functions in FactorGraph as well as its unit tests
2010-01-13 23:59:46 +00:00
93465945e9
Large gtsam refactoring
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To support faster development *and* better performance Richard and I pushed through a large refactoring of NonlinearFactors.
The following are the biggest changes:
1) NonLinearFactor1 and NonLinearFactor2 are now templated on Config, Key type, and X type, where X is the argument to the measurement function.
2) The measurement itself is no longer kept in the nonlinear factor. Instead, a derived class (see testVSLAMFactor, testNonlinearEquality, testPose3Factor etc...) has to implement a function to compute the errors, "evaluateErrors". Instead of (h(x)-z), it needs to return (z-h(x)), so Ax-b is an approximation of the error. IMPORTANT: evaluateErrors needs - if asked - *combine* the calculation of the function value h(x) and the derivatives dh(x)/dx. This was a major performance issue. To do this, boost::optional<Matrix&> arguments are provided, and tin EvaluateErrors you just says something like
if (H) *H = Matrix_(3,6,....);
3) We are no longer using int or strings for nonlinear factors. Instead, the preferred key type is now Symbol, defined in Key.h. This is both fast and cool: you can construct it from an int, and cast it to a strong. It also does type checking: a Symbol<Pose3,'x'> will not match a Symbol<Pose2,'x'>
4) minor: take a look at LieConfig.h: it help you avoid writing a lot of code bu automatically creating configs for a certain type. See e.g. Pose3Config.h. A "double" LieConfig is on the way - Thanks Richard and Manohar !
2010-01-13 22:25:03 +00:00
22b4912d5e
adding #include<boost/shared_ptr.hpp> to graph-inl.h because this dependency doesnt seem to be working without it on gcc 4.3.3
2010-01-13 19:36:52 +00:00
c0bc7e6c10
fix a bug in composePoses that switched the order of compose parameters
2010-01-13 06:02:18 +00:00
2a094b7491
return shared_ptr in composePoses
2010-01-13 02:09:16 +00:00
8d28763339
Vector and Matrix initialization optimization
2010-01-12 16:12:31 +00:00
4369cd2d92
1) add a compose function that compose all the poses in a factor graph given the spanning tree
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2) add a new graph-inl.h which takes care of all the boost graph related functions to prevent the copy and paste across several classes
2010-01-12 16:12:25 +00:00
bea55b5f5b
Fixed double map lookup
2010-01-12 16:11:24 +00:00
fcb7c024a7
bearing functions and derivatives
2010-01-12 02:10:42 +00:00
4b459c45c3
return identity
2010-01-12 02:09:43 +00:00
5163684077
norm
2010-01-12 02:09:03 +00:00
1aed18717b
combined evaluation and derivatives
2010-01-12 02:08:41 +00:00
2c8d8dbde4
NonlinearOptimizer constructor now requires shared_ptr to prevent storing pointers to stack and temporary variables. Code that uses it will need to be modified, but CitySLAM is already done.
2010-01-11 20:17:28 +00:00
40889e8f50
added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions
2010-01-11 08:32:59 +00:00
1b53a240b9
removed prints
2010-01-11 01:09:07 +00:00
e9b0bade03
Access to keys
2010-01-11 00:53:53 +00:00
71fe372fb3
test successive iterates
2010-01-11 00:53:43 +00:00
Frank Dellaert
Kai Ni
Chris Beall
Richard Roberts
Michael Kaess
John Rogers
Manohar Paluri