Richard Roberts
|
aa2aa4149c
|
Special case for trace==1 in Rot3 logmap
|
2010-01-10 23:36:37 +00:00 |
|
Richard Roberts
|
b0fd5396ad
|
Bug fix in Rot3 for logmap(identity)
|
2010-01-10 22:58:30 +00:00 |
|
Richard Roberts
|
1dcc864d97
|
Comment cleanup to /** style and adding global print functions
|
2010-01-10 22:41:23 +00:00 |
Kai Ni
|
78a579a24a
|
add the missing #pragma once
|
2010-01-10 22:15:34 +00:00 |
Viorela Ila
|
f8be2c2626
|
dim, expmap, logmap works
|
2010-01-10 21:53:38 +00:00 |
Frank Dellaert
|
64eca2d550
|
addConstraint
|
2010-01-10 19:25:19 +00:00 |
|
Frank Dellaert
|
d11b2e6bd5
|
Added omitted headers
|
2010-01-10 18:37:55 +00:00 |
|
Richard Roberts
|
88ae5380a8
|
Removed Vector-specific versions of NumericalDerivative, instead Vector is now a Lie object
|
2010-01-10 18:23:47 +00:00 |
|
Frank Dellaert
|
1a96ef41cf
|
Created Pose3Config, Pose3Graph, and tested loop closure optimization.
|
2010-01-10 18:21:20 +00:00 |
|
Frank Dellaert
|
2fe02dbaa7
|
Moved optimization tests to testPose2Graph
|
2010-01-10 18:20:10 +00:00 |
|
Richard Roberts
|
edb68b3b60
|
Fixed typo in LieConfig expmap(Vector)
|
2010-01-10 17:48:55 +00:00 |
|
Richard Roberts
|
33ba34a1f6
|
Minimized headers included in Lie.h, removed print from testLieConfig
|
2010-01-10 17:26:44 +00:00 |
|
Frank Dellaert
|
8d84078036
|
Loop closure tested
|
2010-01-10 17:02:49 +00:00 |
|
Frank Dellaert
|
12caabb667
|
Method to add a factor without having to do shared factor dance
|
2010-01-10 17:02:35 +00:00 |
|
Frank Dellaert
|
120f1301c2
|
operator[]
|
2010-01-10 17:01:48 +00:00 |
|
Frank Dellaert
|
710bce5cc4
|
Pose2Config is now simply a typedef (note that for linking specific template instantiations were needed).
|
2010-01-10 16:17:55 +00:00 |
|
Frank Dellaert
|
4a21fb9387
|
Fixed 2nd expmap template, which now creates a VectorConfig and calls the first template
|
2010-01-10 16:16:03 +00:00 |
|
Frank Dellaert
|
65e4dc1342
|
pose2Circle
|
2010-01-10 15:46:18 +00:00 |
|
Frank Dellaert
|
43b2facd10
|
Now Pose3Config == LieConfig
|
2010-01-10 14:59:39 +00:00 |
|
Frank Dellaert
|
92c58e50a1
|
Small changes, mainly const correctness
|
2010-01-10 14:59:22 +00:00 |
|
Frank Dellaert
|
c957672656
|
Small to change to work well with LieConfig
|
2010-01-10 14:55:19 +00:00 |
|
Frank Dellaert
|
794ffd3b2f
|
Fixed significant bug in Pose2Factor, where we forgot to multiply the error with the square root inverse covariance.
|
2010-01-10 13:55:55 +00:00 |
|
Frank Dellaert
|
8061f29ec5
|
added test clarifying Ax-b \approx h(x)-z
|
2010-01-10 13:54:34 +00:00 |
|
Frank Dellaert
|
f1f21a8589
|
inverted sign of square root to make inv sqrt positive for simple covariance matrices
|
2010-01-10 13:53:31 +00:00 |
|
Frank Dellaert
|
bf315781af
|
defined global functions in Lie.h rather than here
|
2010-01-10 12:35:41 +00:00 |
|
Frank Dellaert
|
6bcb9d08d6
|
Unit tests for correct "Agrawal06iros" versions: they are indeed correct.
|
2010-01-10 12:26:31 +00:00 |
|
Frank Dellaert
|
30367e35fb
|
Much faster compund rotation using Justin's (indeed correct) formula
|
2010-01-10 12:25:46 +00:00 |
|
Frank Dellaert
|
d5eade62ef
|
Moved expmap and logmap to .cpp, also tested correct "Agrawal06iros" versions, and they are indeed correct (see testPose3).
|
2010-01-10 12:24:31 +00:00 |
|
Frank Dellaert
|
ec1b57ed08
|
Added Lie required functions (trivial) for Vector. Not in Vector.h as this becomes circular.
|
2010-01-10 12:22:59 +00:00 |
|
Richard Roberts
|
4fa53a1f79
|
Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function.
|
2010-01-10 06:35:16 +00:00 |
|
Kai Ni
|
6a7987fa91
|
fix Pose2Prior problem and adding prior factor when splitting factor graph
|
2010-01-09 23:39:11 +00:00 |
|
Richard Roberts
|
2b82ff65e7
|
Deriving Lie objects from a base class Lie<T>, which provides member functions to access global functions, for use in MATLAB.
|
2010-01-09 23:15:06 +00:00 |
|
Kai Ni
|
d015b31799
|
more meaningful error messages for matrix operations
|
2010-01-09 07:06:29 +00:00 |
|
Frank Dellaert
|
cc358fb2ce
|
removed print statements
|
2010-01-09 02:37:58 +00:00 |
|
Frank Dellaert
|
5fbb820341
|
fixed comments and tolerances
|
2010-01-09 02:27:49 +00:00 |
|
Frank Dellaert
|
6851b31fad
|
Added static methods to construct rotations, coded up convention for yaw-pitch-roll, modernized RQ
|
2010-01-09 00:03:47 +00:00 |
|
Kai Ni
|
d4f92c7bb6
|
pass FactorGraph as reference into split
|
2010-01-08 20:27:10 +00:00 |
|
Kai Ni
|
06b7f8ee04
|
add split to FactorGraph
|
2010-01-08 19:07:46 +00:00 |
|
Frank Dellaert
|
5dc237eeea
|
BetweenFactor is a template that models the measurement between two Lie types e.g. Pose2 or Pose3. Pose2Factor and Pose3Factor are now simply typedefs.
|
2010-01-08 15:32:45 +00:00 |
|
Kai Ni
|
215ff24d0f
|
generate ordering by breadth-first-search, a lot faster than before
|
2010-01-08 04:12:23 +00:00 |
|
Frank Dellaert
|
8d22b3aca2
|
Just refactoring
|
2010-01-08 03:38:05 +00:00 |
|
Frank Dellaert
|
f684becf1f
|
Fixed Dbetween1
|
2010-01-08 03:06:03 +00:00 |
|
Richard Roberts
|
19a3e228d7
|
Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes.
|
2010-01-08 00:40:17 +00:00 |
|
Kai Ni
|
a845b3d30a
|
generate ordering from the spanning tree
|
2010-01-07 08:00:54 +00:00 |
|
Kai Ni
|
6298a45050
|
use prim algorithm instead of kruskal for finding MST, which yields the parent map.
|
2010-01-07 06:25:54 +00:00 |
Alex Cunningham
|
20c6f29823
|
Moved control-related components to separate library
|
2010-01-06 20:01:34 +00:00 |
|
Frank Dellaert
|
b20ed42134
|
log and between
|
2010-01-06 19:29:41 +00:00 |
|
Frank Dellaert
|
f77da96caf
|
Modernized and tested RQ and added Rot3::ypr. Note this yaw-pitch-roll is different from ML version, which is focused on cameras. Let the fun begin...
|
2010-01-06 15:52:43 +00:00 |
|
Kai Ni
|
9845a5ae37
|
add findMinimumSpanningTree to FactorGraph
|
2010-01-06 11:15:37 +00:00 |
|
Frank Dellaert
|
cd644e75a5
|
GaussianBayesNet::matrix now properly divides in sigmas
|
2010-01-05 14:14:49 +00:00 |
|
Frank Dellaert
|
22d66df766
|
added manifold test
|
2010-01-05 14:13:51 +00:00 |
|
Richard Roberts
|
39334ea9e0
|
Update MATLAB wrapper for earlier Pose2* changes
|
2010-01-04 18:07:24 +00:00 |
|
Kai Ni
|
46cc85e351
|
added size and clear to pose2config
|
2010-01-03 07:25:59 +00:00 |
Michael Kaess
|
052149771a
|
relinearizing factors corresponding to contaminated cliques
|
2010-01-03 04:57:35 +00:00 |
|
Kai Ni
|
cade0e7780
|
fix timing test linking problem by using noinst_PROGRAMS
|
2010-01-03 00:23:16 +00:00 |
Manohar Paluri
|
68159fb5e4
|
corrected SubgraphPreconditioner case
|
2010-01-02 20:24:59 +00:00 |
|
Frank Dellaert
|
f82b46f96c
|
Sped up rodriguez and replaced slow implementation with call to fast implementation. Also moved some functions to cpp.
|
2010-01-02 14:28:18 +00:00 |
|
Frank Dellaert
|
a1c55b9f62
|
Updated Pose2Config to expected coding standard
|
2010-01-02 10:33:33 +00:00 |
|
Frank Dellaert
|
ff06cd757f
|
moved all "Urban" factors and tests to (cmake-based) CitySLAM project
|
2009-12-31 16:54:23 +00:00 |
|
Frank Dellaert
|
a1d14ba2ae
|
Added Bayes Net and Subgraph preconditioners to gtsam (developed in CitySLAM project)
|
2009-12-31 12:56:47 +00:00 |
|
Frank Dellaert
|
730f4a546f
|
Added planar graph with easy subtree
|
2009-12-31 12:55:51 +00:00 |
|
Frank Dellaert
|
07cc95e4c4
|
Comments and formatting
|
2009-12-31 12:55:16 +00:00 |
|
Frank Dellaert
|
eaa8176de1
|
correct behavior when entire columns are zero
|
2009-12-31 10:30:44 +00:00 |
|
Frank Dellaert
|
46a65d89df
|
using ediv_ where needed
|
2009-12-31 10:30:06 +00:00 |
|
Frank Dellaert
|
f7d5b517a4
|
ediv_ is same as ediv except returns 0 for 0/0 division, needed for dealing with constraints
|
2009-12-31 10:29:25 +00:00 |
|
Frank Dellaert
|
3fbc857a9e
|
fixed behavior of error for sigma==0
|
2009-12-31 10:28:43 +00:00 |
|
Frank Dellaert
|
9b327d1a9d
|
added reset
|
2009-12-31 10:27:39 +00:00 |
|
Frank Dellaert
|
bf85f10de7
|
subtraction
|
2009-12-31 10:27:16 +00:00 |
|
Michael Kaess
|
b4e65e9631
|
progress in ISAM2, but unit test still disabled
|
2009-12-31 05:35:08 +00:00 |
|
Richard Roberts
|
afc3028ad5
|
Fixed bug in testPose2Factor optimize unit test where only the first expected value was checked.
|
2009-12-30 18:41:33 +00:00 |
|
Frank Dellaert
|
793a9d58ae
|
Errors is now a list
|
2009-12-30 17:13:36 +00:00 |
|
Frank Dellaert
|
f80ac5d7d5
|
backSubstitute functions (unit-tested in CitySLAM) for preconditioning
|
2009-12-30 17:13:24 +00:00 |
|
Frank Dellaert
|
2368f3605a
|
getReference
|
2009-12-30 14:53:40 +00:00 |
|
Frank Dellaert
|
15bb00683a
|
transpose backsubstitute on upper-triangular matrix
|
2009-12-30 13:20:16 +00:00 |
|
Michael Kaess
|
42fca8c399
|
nonlinear update, all but rhs/config
|
2009-12-30 04:27:14 +00:00 |
|
Richard Roberts
|
0b9451bc4b
|
Initializing libtool correctly in gtsam (see email to frankcvs with same subject)
|
2009-12-29 20:01:38 +00:00 |
|
Michael Kaess
|
737a2f1e05
|
unit test enabled again and working
|
2009-12-29 14:54:45 +00:00 |
|
Frank Dellaert
|
c43cd425ab
|
new back-substitution functions that can do unit triangular solves
|
2009-12-29 13:59:34 +00:00 |
|
Michael Kaess
|
75ab62a729
|
ISAM2 (nonlinear ISAM) partially there, unit test currently disabled
|
2009-12-29 05:57:05 +00:00 |
|
Frank Dellaert
|
8d4a029665
|
rhs method
|
2009-12-28 18:46:01 +00:00 |
|
Frank Dellaert
|
543d3fcd65
|
System now a class (gradient is method)
|
2009-12-28 17:28:48 +00:00 |
|
Frank Dellaert
|
0c0b73042b
|
template now exposed in iterative.h, and has its own implementation file
|
2009-12-28 16:26:16 +00:00 |
|
Frank Dellaert
|
5ac304aff3
|
correct convergence criterion, verbose flag
|
2009-12-28 16:15:26 +00:00 |
|
Frank Dellaert
|
674ae9d030
|
steepest descent now all implemented in iterative.h/cpp
|
2009-12-28 12:37:34 +00:00 |
|
Frank Dellaert
|
bc27afc49f
|
CGD method now uses CGD template in iterative.cpp
|
2009-12-28 10:48:48 +00:00 |
|
Frank Dellaert
|
863ee58c0f
|
new iterative.h/cpp compilation unit
|
2009-12-28 09:56:58 +00:00 |
|
Frank Dellaert
|
d9fd502656
|
moved CG tests from testGFG to testIterative
|
2009-12-28 09:44:30 +00:00 |
|
Frank Dellaert
|
1fac98b4cb
|
Errors:dot, VectorConfig::operator*/-, as a result Conjugate Gradient Descent template now works for factor graphs
|
2009-12-28 08:15:09 +00:00 |
|
Michael Kaess
|
5dfd1921e1
|
template nightmare resolved, all tests working
|
2009-12-27 23:15:36 +00:00 |
|
Frank Dellaert
|
266fc56dea
|
Gradient using new operator^ and errors method
|
2009-12-27 12:13:31 +00:00 |
|
Frank Dellaert
|
7d1428de60
|
Added Errors class and operator* for GaussianFactor and GaussianFactorGraph. Also moved a few functions to cpp.
|
2009-12-26 22:48:41 +00:00 |
|
Frank Dellaert
|
6614434b83
|
System version of CG
|
2009-12-26 21:25:45 +00:00 |
|
Richard Roberts
|
8d3918e7f9
|
Typo made testPose2Factor not build on Linux
|
2009-12-26 19:31:02 +00:00 |
|
Frank Dellaert
|
f3965b07ca
|
Conjugate Gradient Descent template (in progress)
|
2009-12-26 15:06:54 +00:00 |
|
Frank Dellaert
|
886c7dcdcc
|
formatting and comments
|
2009-12-26 15:06:21 +00:00 |
|
Frank Dellaert
|
8dbf79706e
|
commented out two broken tests
|
2009-12-26 15:05:55 +00:00 |
|
Michael Kaess
|
4403b51fcd
|
isam functionality separated into ISAM class, still within BayesTree
|
2009-12-26 04:44:13 +00:00 |
|
Frank Dellaert
|
2cb52694b5
|
Multiply with transpose sugar A'*v = A^v
|
2009-12-25 17:52:58 +00:00 |
|
Michael Kaess
|
80ff7e6d26
|
uncommented urban In Makefile.am as it prevents linking; added Pose2Prior; ISAM2/planar now working
|
2009-12-24 23:44:08 +00:00 |
|
Richard Roberts
|
92b60a8543
|
Made 'between' derivatives in the tangent space of the solution instead of tangent space of identity, this makes Pose2 an "origin-free" manifold.
|
2009-12-21 16:43:23 +00:00 |