09573a36c9
Moved empty to Factor base class.
2021-12-31 16:16:56 -05:00
6c3aca8cac
remove virtual from overridden methods, add virtual destructors to appease compiler
2021-04-30 12:58:52 -04:00
4d6eef2c2f
override print methods and update wrapper
2021-04-29 19:43:27 -04:00
65036b2019
Devirtualize hessianDiagonal
2020-06-03 20:07:14 -04:00
f73429133a
Switched to in-place update of the diagonal Hessian
2020-06-02 12:44:57 -04:00
1cdc228d6a
remove trailing spaces
2019-02-11 10:58:34 -05:00
2aa43e11bd
Use KeyVector everywhere to avoid conversions
2018-11-08 10:10:32 -05:00
f6575323d6
Sidestep Scatter altogether and just use HessianFactor keys_. In theory, n^3 lookup cost, but in practice (as keys is contiguous memory) just as fast as map.
2015-06-13 12:06:13 -07:00
41a0146b05
changed updateATA -> updateHessian. Much clearer
2015-06-12 00:20:37 -07:00
39ffe3ac32
Made updateATA a virtual method for a small saving in CPU, but more importantly to allow for custom Jacobian or HessianFactors...
2015-06-10 15:53:43 -04:00
ebf5746987
Fix some serialization warnings.
2015-03-06 16:12:09 +01:00
e13243b140
Merge branch 'develop' into feature/RegularFactors
...
Conflicts:
gtsam/linear/GaussianFactorGraph.cpp
gtsam/linear/JacobianFactor.cpp
gtsam/linear/JacobianFactor.h
tests/testPreconditioner.cpp
2015-01-01 17:50:27 -05:00
e5017984a1
traits_x -> traits
2014-12-26 16:47:51 +01:00
99a50a2f87
Split up concepts into Group/Manifold/Lie/VectorSpace. Also fixed some implementations and put in exceptions elsewhere, rather than CONCEPT_NOT_IMPLEMENTED macro.
2014-12-22 02:50:52 +01:00
79d8514528
MASSIVE edit: made Testable its own concept, and moderinized Testable.h to use Testable traits. This required adding Testable traits in many classes.
2014-12-21 22:02:57 +01:00
e539738fd0
Remove support for dual keys. Added finished() after all matrices and vectors. Remove buildDualGraph from GaussianFactorGraph. Remove support for multipliedHessians for non-linear equality constraints.
2014-12-12 17:23:31 -05:00
960d10582d
Add pure virtual function in GaussianFactor and empty dummy virtual function in Jacobian/Hessian Factor for the raw memory access functions
2014-11-17 16:17:11 -05:00
51df17ffdf
Remove virtual functions using raw memory access
2014-11-12 04:17:09 -05:00
11969b32f6
fix gradient and gradientAtZero for linear constrained Jacobian, optionally scaled by the dual variables
2014-09-24 22:19:47 -04:00
5e8c36b3ca
compute gradient wrt a key
2014-09-13 01:31:49 -04:00
6d697f2c92
heuristic in EliminationPreferCholesky to work around the Indeterminant exception while solving linear constrained systems.
...
Instead of turning Hessian factors into Jacobian factors -- so that they can be eliminated with constrained Jacobian factors using the special QR in Constrained's noise model -- we combine all Hessian factors, eliminate the variable first to have a conditional and a new factor 1, then combine the constrained Jacobians with this conditional (also a Jacobian) to eliminate again, producing the final conditional, and a new factor 2. The two new factors are then combined into a new Hessian factor to be returned.
2014-09-11 14:51:35 -04:00
37b750411f
added gradientAtZero with raw memory access
2014-04-22 18:38:12 -04:00
d2b6b12bba
added raw memory access of hessianDiagonal
2014-03-17 19:28:49 -04:00
b464b808ef
First cut on raw MultiplyHessianAdd for HessianFactor and JacobianFactor. Unit test is passed in testGaussianFactorGraphUnordered (multiplyHessianAdd3). Note the interface currently needs the accumulated diminsions of key variables. See GaussianFactorGraph::multiplyHessianAdd(double alpha,const double* x, double* y).
2014-03-04 01:58:34 -05:00
b837cb1b03
Declared hessianBlockDiagonal
2014-02-14 13:18:46 -05:00
76959d4d18
Added hessianDiagonal; works for Gaussian factor graphs with JacobianFactors
2014-02-14 01:14:32 -05:00
8e35490f22
Added virtual destructor to pacify a warning
2013-11-04 21:29:12 +00:00
daf5938577
const correctness
2013-10-29 04:58:51 +00:00
4591835223
gradientAtZero is now implemented in the fcators (Richard says, need to work on efficiency)
2013-10-29 03:42:33 +00:00
6a383799d7
Skeleton code for GaussianFactorGraph::multiplyHessian
2013-10-24 15:52:32 +00:00
9a10242e96
Fixed warnings
2013-08-09 21:35:42 +00:00
b3428881bd
Fixed key formatting
2013-08-06 18:04:35 +00:00
0d05bf5ac5
Started on HessianFactor, converted Nonlinear stuff and disabled a lot of more advanced classes so the library compiles with nonlinear using unordered.
2013-08-01 21:57:43 +00:00
3ade190128
Renamed old classes to "Ordered" and removed "Unordered" name from new classes
2013-07-29 23:55:40 +00:00
a54d177202
Added dll export tags and updated cmake scripts so that GTSAM can build as a shared library on windows
2013-03-13 18:56:21 +00:00
eb21cf0911
Cleaned up information/augmentedInformation for GaussianFactor and GaussianConditional
2012-10-08 22:40:37 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
fb409a2cc7
Implemented partial elimination and sparse variable index remapping (Reduction) to enable Frank's new marginal code
2012-10-01 16:12:41 +00:00
b2e15eea4e
Added negate() to GaussianFactor, which computes the Anti-factor eqiuvalent, using implementation from the nonlinear Anti-factor
2012-06-28 19:43:00 +00:00
947e5fe5ee
Made typedefs / constants for IndexFormatter to simplify code
2012-06-28 01:52:48 +00:00
c7734db4fa
Added formatting objects to linear and inference objects to allow for printing meaningful keys
2012-06-25 21:19:38 +00:00
282dc6d788
comments and formatting
2012-06-21 15:46:39 +00:00
b73af866d6
Added computeInformation function to GaussianFactor to properly compute information matrix including noise models, and using it to fix bug in Marginals where noise model was not being accounted for (only affects when hard constraints are used)
2012-05-24 20:43:19 +00:00
91e7dc5882
Caching linearized factors in iSAM2, improves speed when linearization is expensive
...
Merge remote-tracking branch 'svn/branches/iSAM2_cache_linearized' into trunk
Conflicts:
.cproject
2012-04-11 14:17:59 +00:00
e036dd460e
support cloning (deep copy) for ISAM2
2011-12-06 16:21:57 +00:00
e56b6ff392
Improving documentation
2011-09-05 18:37:43 +00:00
c4d9208eeb
Added serialization for most linear/inference structures, simulated2D - serialization, except for example domains, should be complete
2011-06-04 16:52:54 +00:00
e635b21154
made keys_ and nrFrontals_ private to ensure correct constructors are called
2011-03-25 16:57:28 +00:00
5c193422af
Major change, elimination functions are now passed an "Eliminate function", so you can select at run-time which factorization method is used (symbolic, QR, etc...).
2011-03-24 19:27:12 +00:00
e4ed8cfd60
Made NonlinearFactor inherit from Factor<Symbol>, also hopefully fixed a compile error when implicitly up-casting from a derived factor type to its base type, which previously had some workaround(s) in Alex's code and in DiscreteFactor
2011-03-04 00:18:17 +00:00
Frank Dellaert
Varun Agrawal
Fan Jiang
Duy-Nguyen Ta
Frank Dellaert
Thomas Schneider
Sungtae An
dellaert
krunalchande
thduynguyen
Luca
hchiu
Alex Cunningham
Pablo Fernandez Alcantarilla
Richard Roberts
Chris Beall