dellaert
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b21db08ec1
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Fixed small issue, should not assign to reference in case of Quaternions.
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2014-11-02 13:03:36 +01:00 |
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dellaert
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d4dcf90bd1
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SUPERFAST linearize, by pre-allocating the JacobianFactor and writing into it.
Merging local branch 'feature/BAD_WriteableJacobianFactor' into feature/BAD
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2014-11-02 13:00:08 +01:00 |
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dellaert
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049631e530
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Avoid re-allocating vertical offsets
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2014-11-02 12:57:13 +01:00 |
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dellaert
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b9e3c3b116
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Made unsafe constructor private, but made ExpressionFactor<T> a friend.
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2014-11-02 12:01:52 +01:00 |
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dellaert
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cb69f2cb82
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Fastest linearize so far. Putting 'unsafe' constructor in JacobianFactor itself makes a *huge* difference.
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2014-11-02 11:40:48 +01:00 |
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Frank Dellaert
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a1c6c3cbe5
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Merged in feature/BAD_VerticalBlockMatrix (pull request #29)
Straight copy into VerticalBlockMatrix
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2014-11-01 19:26:14 +01:00 |
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dellaert
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7aaf4dae8c
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Merge remote-tracking branch 'origin/feature/BAD_VerticalBlockMatrix' into feature/BAD_WriteableJacobianFactor
Conflicts:
gtsam_unstable/nonlinear/ExpressionFactor.h
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2014-11-01 17:45:23 +01:00 |
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dellaert
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7debde7518
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Moved to ExpressionFactor that now uses it - timing seems worse ?
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2014-11-01 15:12:06 +01:00 |
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dellaert
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12e38a44e4
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WriteableJacobianFactor will allow ExpressionFactor to write into the factor directly, (hopefull) eliminating huge overhead.
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2014-11-01 14:13:08 +01:00 |
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dellaert
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a4fa61a7a4
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Removed JacobianMap tests
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2014-11-01 11:56:38 +01:00 |
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dellaert
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f38b0b0eed
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Fixed unwhitenedError
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2014-11-01 11:50:28 +01:00 |
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dellaert
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7b539fbb5c
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Make JacobianMap a wrapper around a VerticalBlockMatrix, which avoids us having to make a vector of references into it
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2014-11-01 11:35:49 +01:00 |
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Frank Dellaert
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8e7864dc96
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Merged in feature/BAD_vector (pull request #28)
Changed the type of JacobianMap as std::vector
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2014-10-31 16:29:35 +01:00 |
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dellaert
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593edd1e5c
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Fixed asserts
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2014-10-31 16:29:15 +01:00 |
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dellaert
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d0c3bc0c8e
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Fixed tests
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2014-10-31 16:27:54 +01:00 |
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dellaert
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768a4abc05
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Does not need lambda
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2014-10-31 16:27:46 +01:00 |
Sungtae An
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a5b8d0fd35
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Modified finding method
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2014-10-31 11:06:26 -04:00 |
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dellaert
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f5c6ccca17
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Changed size (because transpose_) was removed
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2014-10-31 13:48:39 +01:00 |
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Sungtae An
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6a20d35a60
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Modified pointer expression
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2014-10-31 07:28:07 -04:00 |
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Sungtae An
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133fcf20e2
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Cleaned up some commented codes
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2014-10-31 07:22:19 -04:00 |
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Sungtae An
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97d4120858
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Changed the type of JacobianMap as std::vector
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2014-10-31 07:10:53 -04:00 |
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dellaert
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c1c6a30e50
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Removed print statement
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2014-10-23 22:39:07 +02:00 |
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dellaert
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cfe56a0aa8
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Removed transpose_. It did speed up things but was bad design. Will need to profile again and find different ways to cope with transpose() overhead. One way is to return a Eigen::Transpose<> object as hinted to in comments.
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2014-10-23 19:13:37 +02:00 |
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dellaert
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79efd2f3fc
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SLERP with Zhaoyang, not really part of BAD, but here it originated :-)
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2014-10-23 19:11:44 +02:00 |
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dellaert
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e7ec6b3fa5
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Fixed size
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2014-10-23 12:04:16 +02:00 |
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dellaert
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e58317ed7d
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Tightened some tests, fixed LieVector issues
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2014-10-23 12:04:02 +02:00 |
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dellaert
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77e7f0437d
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Merge remote-tracking branch 'origin/feature/FixQuaternion' into feature/BAD
Conflicts:
gtsam/geometry/tests/testRot3M.cpp
gtsam/geometry/tests/testRot3Q.cpp
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2014-10-23 10:03:10 +02:00 |
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dellaert
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845697555a
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Fixed tests for Quaternion mode but Pose3 not in EXPMAP mode
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2014-10-23 09:52:35 +02:00 |
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dellaert
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056254bf93
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Optimized a bit more
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2014-10-23 09:51:43 +02:00 |
cbeall3
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a0be48ef75
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revert from fixed size vectors to make it compile with existing numericalDerivatives
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2014-10-22 22:00:25 -04:00 |
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dellaert
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941d6dfe07
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Fixed LogMap - something fishy in Eigen? Or at least low-accuracy.
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2014-10-23 01:54:46 +02:00 |
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dellaert
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19e34489cf
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Made a common test
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2014-10-23 01:54:14 +02:00 |
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dellaert
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49ff33602d
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Undid change
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2014-10-23 01:44:04 +02:00 |
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dellaert
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9b35206a4f
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target
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2014-10-23 01:43:54 +02:00 |
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dellaert
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0501750c7c
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Fixed accuracy and size issues in Quaternion mode
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2014-10-22 22:54:25 +02:00 |
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dellaert
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8902979944
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Added target
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2014-10-22 22:50:43 +02:00 |
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dellaert
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483d713859
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unrotate is same now, with transpose_
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2014-10-22 22:16:35 +02:00 |
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dellaert
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5a792c8847
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No Cayley in quaternion mode
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2014-10-22 21:55:35 +02:00 |
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dellaert
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0f26842073
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Added transpose_ in Quaternion mode
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2014-10-22 21:55:11 +02:00 |
|
dellaert
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be676b22cf
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Fix some tests
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2014-10-22 16:26:56 +02:00 |
|
dellaert
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48a6777935
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Some refactoring
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2014-10-22 16:26:40 +02:00 |
|
dellaert
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a29f09423c
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Merge branch 'develop' into feature/BAD
Conflicts:
gtsam/linear/tests/testGaussianBayesNet.cpp
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2014-10-22 13:56:27 +02:00 |
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dellaert
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e46be60215
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Speeding up localCoordinates
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2014-10-22 13:46:05 +02:00 |
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dellaert
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1061a66fc1
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Speeding up localCoordinates
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2014-10-22 13:45:57 +02:00 |
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dellaert
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0f53c8d5ec
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Timing of Ceres AutoDiff adaptor
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2014-10-22 12:49:18 +02:00 |
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dellaert
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e18a2164bb
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Fixed-size version of project2 (copy/paste!)
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2014-10-22 12:48:45 +02:00 |
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dellaert
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19f0e3fc46
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Fixed-size versions (copy/paste!)
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2014-10-22 12:48:15 +02:00 |
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dellaert
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f44e6f0187
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Moved AdaptAutoDiff template in its own header file
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2014-10-22 11:41:04 +02:00 |
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dellaert
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516bb4b0b1
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Isolated Snavely example
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2014-10-22 11:23:35 +02:00 |
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dellaert
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439f51ec7f
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test out invoke
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2014-10-22 10:10:58 +02:00 |