Commit Graph

12 Commits (b4ea19f141f10f6d99f44b2986a78be1fe9a98c8)

Author SHA1 Message Date
Alex Cunningham 23a30f8475 Removed remaining global lie functions on lie objects and configs, switched the Lie base class to a simple concept check function, fixed build script for examples. ISAM2 and MastSLAM verified as compiling. 2010-08-26 19:55:40 +00:00
Alex Cunningham 77eda5ab8c In all nonlinear factors and configs, it is only necessary to specify a key with a typedef Value_t for the associated value. This has been removed from factor template definitions, as it is too easy to use the wrong value. Also, no more string keys or linear symbol keys in nonlinear systems. Updated MastSLAM to work, and ISAM2 works without change 2010-08-23 19:44:17 +00:00
Alex Cunningham 9367170fe5 Fixed references to dimension static member variables in constraints 2010-08-19 21:29:43 +00:00
Alex Cunningham 8e364cb34e Improvements to the Lie objects, with new member/static functions in most of the geometry objects. Many of the functions that were previously global have been moved to static functions. See Lie.h for more details. 2010-08-19 20:03:06 +00:00
Richard Roberts f1132359d4 Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs) 2010-08-19 17:23:19 +00:00
Alex Cunningham 1c72d92365 Moved TransformConstraint into gtsam, cleaned up includes 2010-08-10 14:30:41 +00:00
Alex Cunningham 4f9a60d41c Nonlinear bounding constraints are now working for simple examples. Also, removed extraneous constraint test files. 2010-08-09 21:59:29 +00:00
Alex Cunningham efaca162cf Added tests for nonlinear equality constraints, generalized equality constraints 2010-08-09 17:21:11 +00:00
Alex Cunningham 5ada49ea3a Moved remaining equality constraint tests to testNonlinearEqualityConstraint. Added NonlinearEquality2, a binary constraint expressing exact equality between variables. 2010-08-06 20:07:55 +00:00
Alex Cunningham a55860eb1d Reimplemented nonlinear constraints to remove the old dependency on using boost function pointers and allow for inequality and bounding constraints. Added simple equality constraints in simulated2D and new set of tests. Removed/disabled old tests until they can be worked into new structure. 2010-08-06 18:30:07 +00:00
Alex Cunningham a3da89b63a NonlinearConstraints are now implemented using the simple linearization method with quadratic merit function 2010-07-18 19:55:53 +00:00
Frank Dellaert c5a2440608 Non-functional revision: moved files to nonlinear 2010-07-12 16:19:55 +00:00