019a05d93d
mex: compile of ' "eliminate.cpp"' error fixed. but still not compiling
2009-10-20 18:57:33 +00:00
543ad1409f
Changing from set to vector: insert -> push_back
2009-10-20 15:22:06 +00:00
19bdb5c2f9
Better name for delta: linearizeAndOptimizeForDelta
2009-10-19 19:12:48 +00:00
d8c04ecfcb
Fixed serialization include header.
2009-10-18 17:35:15 +00:00
ed616a26ed
Finally gave in and made LinearFactorSet into a vector. Pragmatism wins.
2009-10-18 16:49:10 +00:00
0d66ee8f72
comments only
2009-10-15 14:56:40 +00:00
485f8d003b
Added notes concerning the ordering issue when handling sets of LinearFactor::shared_ptrs
2009-10-14 21:06:44 +00:00
7d0a30c20f
Renamed FGConfig to VectorConfig in gtsam, easylib, EasySLAM, and mast.
2009-10-14 20:39:59 +00:00
8f20523e7f
ConstrainedLinearFactorGraphs now handles multiple constraints on a node properly.
...
smallExample was changed to include two of the examples used in testConstrainedLinearFactorGraph
ConditionalGaussian was changed to make solve() virtual, as this is necessary for ConstrainedConditionalGaussian
2009-10-14 15:32:05 +00:00
92b920cb48
updated to be templated on Config.
2009-10-13 20:55:07 +00:00
66dac8a52f
Generalized constraint handling to create a LinearConstraint which implements linear equality constraints that can be eliminated as a part of a ConstrainedLinearFactorGraph. DeltaFunction has been changed to be a ConstrainedConditionalGaussian, which has a more robust solve() function. The new tests no longer use the "constrained" example from smallExample, so those functions have been commented.
...
''Limitations: ''
* Any given node can only have one constraint on it, but constraints can be of arbitrary size
* Constraints can only be specified as a blockwise system, where each block must be square and invertible to support arbitrary elimination orderings.
* ConstrainedNonlinearFactorGraph is disabled until a better solution for handling constraints in the nonlinear case is determined.
2009-10-08 13:57:22 +00:00
3efe95abee
Removed ConstrainedChordalBayesNet and associated test. It may return if ConstrainedConditionalGaussians need more involved processing in future versions, but for all versions of LinearConstraint, there is no need for a special Constrained CBN.
2009-10-08 13:43:43 +00:00
989f290c99
'''BIG CHANGE''': avoid converting back and to FGConfigs by templating on configuration type. Details:
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* Factors are now templated on the configuration type. Factor Graphs are now templated on the factor type and configuration type.
* LinearFactor is a factor on an FGConfig.
* LinearFactorGraph uses LinearFactor and FGConfig.
* NonLinearFactor is still templated on Config.
* NonLinearFactorGraph uses NonLinearFactors, but is still templated on Config.
* Tests and VSLAMFactor have been updated to reflect those changes.
2009-10-06 18:25:04 +00:00
34c1bb6f29
Small comment on exmap correctness
2009-10-06 18:02:33 +00:00
7e77ae5f53
formatting only, clear by default
2009-10-06 18:01:40 +00:00
354f9de64e
fixed round off error in Rot3.rodriguez
2009-09-16 02:20:57 +00:00
7fb691183d
make simulation2D work
2009-09-15 22:32:34 +00:00
768befbd85
Faster inverse by avoiding matrix intermediate
2009-09-14 04:39:36 +00:00
d5dc9ab9d1
Composition is faster, composeTransform is trivial (and should probably go)
2009-09-14 04:38:17 +00:00
3285d88181
Added few utility functions required to check if Marker is facing the Camera
2009-09-13 20:07:00 +00:00
100b9b2eec
added a safe projection method to Calibrated and SimpleCamera. added a positiveDepth property to ARToolkitMeasurement so that the visibility can be checked
2009-09-13 16:09:54 +00:00
571c0da8d1
removed unit test for scalar operator overloading
2009-09-13 04:23:31 +00:00
68e20eec2c
2 BIG changes:
...
(1) FactorGraph and NonlinearOptimizer now no longer have a .cpp file, but a -inl.h file as in [http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml Google's C++ Style Guide]. This means if you expect to instantiate one of the functions in a cpp file, you have to include the -inl.h file.
(1) getOrdering is now in FactorGraph, and the non-linear version does *not* take a config anymore.
Long version: I made this change because colamd works on the graph structure alone, and should not depend on the type of graph. Instead, because getOrdering happened to implemented in LinearFactorGraph first, the non-linear version converted to a linear factor graph (at the cost of an unnecessary linearization), and then threw all that away to call colamd. To implement this in a key-neutral way (a hidden agenda), i had to modify the keys_ type to a list, so a lot of changes resulted from that.
2009-09-13 04:13:03 +00:00
d141cdab8c
rolling back + operator overload for scalars ( Not approved by FD )
2009-09-13 03:43:15 +00:00
bc93a9c314
overloaded + operator for scalar
2009-09-12 21:52:13 +00:00
7b0c69da2d
getOrdering uses [keys] now
2009-09-12 04:15:41 +00:00
14102e259e
new method [keys]
2009-09-12 03:50:44 +00:00
78ac705d05
Isolated main colamd call in function templated on key type.
2009-09-12 03:38:55 +00:00
a5ae9c12ef
re-factored and commented getOrdering
2009-09-12 01:50:47 +00:00
597af891cb
add comments
2009-09-11 20:51:49 +00:00
bc7717d5ab
Forward declarations and comments
2009-09-11 20:51:03 +00:00
49e6e0c63f
Add operator /
2009-09-11 20:49:28 +00:00
b76a029ad8
Added principalPoint
2009-09-11 20:48:02 +00:00
0ac12dfcbf
changed config() to const
2009-09-11 18:33:05 +00:00
5e713551b3
get it run on the mac
2009-09-10 22:50:06 +00:00
65df85125d
Fixed NonlinearOptimizer to return a shared pointer to a config
2009-09-10 22:08:47 +00:00
5e1c719c17
the getConfig function is so dangerous and it should not exist...
2009-09-10 20:32:27 +00:00
ead3d03866
BIG: replaced optimize in NonlinearFactorGraph with specialized NonlinearOptimizer object. This does away with the artificial ErrorVectorConfig and the like as NonlinearOptimizer is templated and can use "exmap", the exponential map defined for any differentiable manifold.
2009-09-09 04:43:04 +00:00
ff12101945
serialization
2009-09-07 04:19:03 +00:00
5ca7ab9053
equals
2009-09-07 03:35:32 +00:00
ff9a89c81b
unit tests in meter
2009-09-05 20:35:09 +00:00
482d7fe73f
exposed two internal functions
2009-09-04 14:59:17 +00:00
ba676a7a95
removed a printing thing
2009-09-03 18:11:26 +00:00
214637cee9
fixed rodriguez in Rot3
2009-09-03 17:43:02 +00:00
012437c573
keys now returns const references
2009-09-03 17:24:46 +00:00
2357e8aefc
There was a serious mistake in rodriguez, instead of R was returning R'
2009-09-03 17:08:52 +00:00
24c8242782
added print as virtual method
2009-09-03 16:51:31 +00:00
0c590c513e
enable debug options
2009-09-03 15:15:20 +00:00
5d41f5bdfa
Calibration load gone, now constructor takes path
2009-09-01 15:09:41 +00:00
f7bcb8dad7
add comments
2009-09-01 03:45:37 +00:00
07f940be57
add -g to unit tests
2009-09-01 03:32:11 +00:00
92dbc8910e
correct serialization of base classes
...
moved all serialize functions to bottom of class declaration
2009-08-31 04:13:57 +00:00
c69d8d9b36
Factor Graph serialization, and renaming of factors -> factors_
2009-08-31 02:40:26 +00:00
00fd3cebcf
changed const string to const string & in load
2009-08-30 21:49:48 +00:00
adabafa9f0
changed load function argument to const
2009-08-30 06:34:43 +00:00
34d80b6a2b
moved some implementations to cpp to avoid some weird conflict involving stack
2009-08-30 04:51:46 +00:00
6311dd0147
SimpleCamera::level now works
2009-08-29 07:39:20 +00:00
179b5c09ae
static members for creating "level" cameras as we find on idealized robots
2009-08-29 06:54:10 +00:00
5eb9a4d182
More efficient transform_to using unrotate
2009-08-29 04:10:52 +00:00
3432b6c50f
new Pose2 class
2009-08-29 01:24:26 +00:00
6e23d61221
Formatting, and moved print to cpp.
2009-08-29 01:22:40 +00:00
ea0e16caf5
Formatting only
2009-08-29 01:22:37 +00:00
8d54086f92
const begin and end
2009-08-28 20:06:29 +00:00
fe8870a5f0
changed functions begin, end and get_names to const
2009-08-28 15:38:27 +00:00
e2a05b37d8
changed parameter to const in function eq_combine_and_eliminate
2009-08-28 15:15:05 +00:00
1ce50a8258
changed get_delta to const ( using find operator of a map instead of [] )
2009-08-28 14:55:33 +00:00
017ad6a66f
error checking for find operation on map
2009-08-28 14:35:02 +00:00
b530c97b08
error checking for find operation on map
2009-08-28 14:33:19 +00:00
630bc9144f
changed get and operator functions to const ( using find operator of a map instead of [] )
2009-08-27 20:04:10 +00:00
b70f081ebc
changed optimize functions to const ( using find operator of a map instead of [] )
2009-08-27 02:00:26 +00:00
af6d98253f
solve is now const
2009-08-27 01:23:05 +00:00
6a3d64c896
Added const verifiers for member functions of the class which are compatible
2009-08-26 18:04:52 +00:00
0b1b5eca67
Added const verifiers for member functions of the class which are compatible
2009-08-26 15:25:47 +00:00
725f5624c3
Added Serialization to Cal3_S2
2009-08-25 14:58:40 +00:00
6e35e34ee4
const return value does not make sense for anything but references
2009-08-25 02:36:30 +00:00
b8a5501670
A much more clean fix for colamd and cppunitlite compilation problem.
2009-08-24 21:55:36 +00:00
f6da0bf0cb
fix include files not installed problem
2009-08-24 20:06:42 +00:00
72fbc569a5
const correctness for combine (it is not const but takes a const argument)
2009-08-24 16:54:22 +00:00
6dd31fd8c3
getOrdering is const !!!! It matters !
2009-08-23 06:56:54 +00:00
fd11a1e2c7
Changed setBCN to take a reference
2009-08-22 22:01:17 +00:00
5780b39816
Complete - # 3: Fix gtsam colamd problem
...
http://trac.research.cc.gatech.edu/borg/ticket/3
2009-08-22 07:00:11 +00:00
d80fa24a9f
Fixing directory structure
2009-08-21 22:23:24 +00:00
Viorela Ila
Frank Dellaert
Alex Cunningham
Chris Beall
Kai Ni
Manohar Paluri
Alireza Fathi
Richard Roberts