b07b431ac0
first ineq QP test passed!
2014-04-15 13:55:24 -04:00
22cbe326e3
fix bug in weightedPseudoInverse dealing with negative weights of ineq constraints
2014-04-15 13:55:04 -04:00
825eff0d49
small improvement on negative weights
2014-04-15 06:11:26 -04:00
dc31ef143a
fix bug in NoiseModel signs for ineq weights. Unittest dual graph
2014-04-15 06:07:41 -04:00
c2378204ef
QPSolver in progress. Finish building dual graph, but not tested.
...
Use mixed constrained noise with sigma < 0 to denote inequalities.
Working set implements the active set method, turning inactive inequalities
to active one as equality constraints by setting their corresponding sigmas to 0
and vice versa. Dual graph now has to deal with mixed sigmas.
2014-04-14 22:57:55 -04:00
e4f2d39a35
Merge branch 'feature/smartFactors'
2014-04-06 14:43:49 -04:00
c2069a26cd
Merge branch 'feature/LevenbergMarquardt'
2014-04-06 14:35:52 -04:00
2908197f1a
Merge branch 'develop'
2014-04-06 14:35:32 -04:00
08a54ee470
Merge branch 'develop'
2014-04-06 14:28:09 -04:00
bfff17fd05
Merge branch 'origin/feature/LevenbergMarquardt'
2014-04-06 14:26:54 -04:00
310fce3be9
last updates from smartFactors project (these files are now removed from that project)
2014-04-06 14:25:46 -04:00
e98b90bd2a
Make building of metis/partition optional via cmake flag
2014-04-04 15:49:04 -04:00
51248072f9
fixed bug in hessianDiagonal (raw access)
2014-04-03 17:50:52 -04:00
49c11e8fa7
Remove warning flag
2014-04-03 16:35:10 -04:00
268bc189ce
Detect clang to prevent issues with llvm
2014-04-03 16:31:55 -04:00
cb3cec3789
Replaced static variable counter inside ISAM2 update() with a member variable to avoid a bug where if multiple instances of ISAM2 are running in the same process, the counter gets incremented in each of them, resulting in very difficult to debug failures.
2014-03-27 16:15:29 -04:00
02fc860d9e
add smartfactor base classes, smartProjectionPoseFactor, and its unit test to gtsam_unstable
2014-03-27 13:14:13 -04:00
9860c8452e
Merge branch 'develop'
2014-03-26 17:26:10 -04:00
6edd3f10fc
added raw memory access version of hessianDiagonal
2014-03-19 17:43:20 -04:00
178b7f29da
clang warnings
2014-03-17 21:56:50 -04:00
d2b6b12bba
added raw memory access of hessianDiagonal
2014-03-17 19:28:49 -04:00
f65fc11801
completed print function
2014-03-17 19:06:35 -04:00
727679ea1d
Merge branch 'feature/LevenbergMarquardt'
2014-03-17 15:58:31 -04:00
17fef90eaf
Merge branch 'develop'
2014-03-17 15:54:46 -04:00
c5c1460081
silence two more metis warnings
2014-03-17 15:49:14 -04:00
5f8f38a8e0
when relative decrease is small and positive, the step is applied before termination
2014-03-17 14:20:41 -04:00
3ee404a5a6
removed unused parameters. cleaned up hard-coded parameters
2014-03-17 14:12:04 -04:00
9ffc928536
Correct signed vs unsigned comparison warnings
2014-03-17 12:07:54 -04:00
719592258b
Remove unused variable
2014-03-17 12:04:40 -04:00
da09c31c7b
Supress metis warnings for gcc
2014-03-17 11:59:13 -04:00
8e848946ab
Default build executables to off
2014-03-17 11:46:07 -04:00
3070e63ccc
cmake option to build metis executables
2014-03-17 11:42:10 -04:00
68297dedb5
Removed unused variable
2014-03-16 16:36:07 -04:00
e42e36e004
hessianDiagonal is now virtual
2014-03-13 22:44:21 -04:00
dfeb9e2459
added test on hessian diagonal
2014-03-13 22:44:03 -04:00
a6d73e8884
improved efficiency of diagonal damping (avoiding multiple traversal of binary tree)
2014-03-13 22:43:51 -04:00
afb5bac2f7
writeBALfromValues input made const
2014-03-13 01:36:38 -04:00
4bb6402ff2
Merge branch 'feature/LevenbergMarquardt'
2014-03-12 14:52:08 -04:00
6e0bfa1f5b
commented failing unit test (issue added on Bitbucket)
2014-03-12 14:50:39 -04:00
e65ddf4d87
cleaned up LM with Richard, before merge
2014-03-12 14:24:15 -04:00
6f692b1547
Merge branch 'develop'
...
Conflicts:
gtsam/base/SymmetricBlockMatrix.cpp
gtsam/linear/JacobianFactor-inl.h
gtsam_unstable/geometry/tests/testTriangulation.cpp
2014-03-12 12:57:59 -04:00
b42a234c66
avoided warning
2014-03-12 12:49:45 -04:00
b0cca0e4f0
made linearizedDamped public
2014-03-11 23:06:03 -04:00
9007d1ca72
Copy constructor and return const &
2014-03-06 21:07:54 -05:00
691e9884d7
Const correctness, comments, and templated Eigen blocks (esp. important in integrate)
2014-03-06 21:05:11 -05:00
a1433dbd31
const correctness
2014-03-06 19:39:57 -05:00
639e1041c3
Merge cleanup_fillterms
2014-03-06 15:46:50 -05:00
fbbbac0db8
Fixed comment
2014-03-06 15:44:49 -05:00
488d47729f
Removed some of the boost range magic in fillTerms
2014-03-06 15:19:56 -05:00
bb3820780d
Don't attempt any damping if no key found in diagonal
2014-03-05 23:25:15 -05:00
thduynguyen
Luca
Andrew Melim
Alex Cunningham
jing
cbeall3
dellaert
Richard Roberts