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 |
|
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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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 |
|
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 |
|
dellaert
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f38b0b0eed
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Fixed unwhitenedError
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2014-11-01 11:50:28 +01:00 |
|
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 |
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 |
|
dellaert
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bf16446f92
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Deal with traits changes
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2014-10-21 01:26:17 +02:00 |
|
dellaert
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8ee16c9018
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Comments for Paul
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2014-10-19 11:19:09 +02:00 |
|
dellaert
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6e142184cc
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Implemented is_manifold and dimension for all types in testExpressionFactor
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2014-10-19 00:35:25 +02:00 |
|
dellaert
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0bcca2c386
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Drastic reduction in allocations at ExpressionFactor construction by having dims constructed imperatively, and using it for both keys_ and dimensions_
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2014-10-16 14:16:58 +02:00 |
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dellaert
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944422e295
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Only ExpressionFactor needs dimensions! Also, add dimensions at construction -> speeds up linearize.
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2014-10-16 11:15:47 +02:00 |
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dellaert
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9b1c9bbf37
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Allocate temporary matrix on the stack rather tahn on heap, and give VerticalBlockMatrix a view on it.
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2014-10-15 00:56:06 +02:00 |
|
dellaert
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c88b2a5902
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Fixed bizarre link erro as well as off-by-1 bug
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2014-10-15 00:34:28 +02:00 |
|
dellaert
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0f055f7910
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Pass matrix to VerticalBlockMatrix constructor
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2014-10-15 00:28:53 +02:00 |
|
dellaert
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c971207abf
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Switched to vector for dimensions
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2014-10-14 17:16:31 +02:00 |
|
dellaert
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1c3f328fb2
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Successful switch to Blocks !
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2014-10-14 15:43:41 +02:00 |
|
dellaert
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f3e1561105
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Prepare VerticalBlockMatrix for filling
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2014-10-14 11:13:49 +02:00 |
|
dellaert
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4c76f39009
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Now uses dimensions
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2014-10-14 09:55:34 +02:00 |
|
dellaert
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781cc6daa9
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keys now from expression_
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2014-10-14 08:59:01 +02:00 |
|
dellaert
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4d1eb05c7d
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Passing JacobianMap as an argument now..
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2014-10-12 20:16:08 +02:00 |
|
dellaert
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fea2eb0b5f
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Inlined VerticalBlockMatrix construction
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2014-10-12 11:05:43 +02:00 |
|
dellaert
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ed62271f81
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Dealing with constrained noise model
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2014-10-12 10:52:07 +02:00 |
|
dellaert
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0c7ea68f2f
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Now overwriting linearize as preparation for direct VericalBlockMatrix
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2014-10-11 17:05:53 +02:00 |
|
dellaert
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563c4d214c
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Renamed BADFactor -> ExpressionFactor
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2014-10-09 13:00:56 +02:00 |