Paul Furgale
|
14b582d268
|
cleaned up the code a bit
|
2014-11-25 06:42:36 +01:00 |
Jing Dong
|
6c13834260
|
change back to lower case, and fix another similar header issue
|
2014-11-24 15:51:07 -05:00 |
Frank Dellaert
|
923c5733c7
|
Merged in fix/BAD_alignment_issue_154 (pull request #42)
proposal to fix alignment in BAD (issue #154)
|
2014-11-24 21:27:50 +01:00 |
|
Paul Furgale
|
5b5122d15b
|
Fixed a copy/paste error
|
2014-11-24 21:23:53 +01:00 |
|
Paul Furgale
|
07044137eb
|
A failing unit test for a custom chart
|
2014-11-24 21:14:59 +01:00 |
|
Frank Dellaert
|
c570f53e57
|
Merged in feature/BAD_using_charts (pull request #41)
Working on a prototype of wrapping external types
|
2014-11-24 19:01:58 +01:00 |
|
Frank Dellaert
|
ea02e577f5
|
Merged in feature/expressions (pull request #45)
Pull request for debugging Expression<double> issue
|
2014-11-24 18:40:31 +01:00 |
|
Paul Furgale
|
9f68344abb
|
Addressed code review
|
2014-11-24 12:43:30 +01:00 |
|
Paul Furgale
|
a44baac308
|
Added a function for testing charts
|
2014-11-24 09:29:14 +01:00 |
|
Paul Furgale
|
6fc3c450a7
|
Fixed the chart concept check and cleaned up a bit
|
2014-11-24 08:18:55 +01:00 |
|
Paul Furgale
|
df7470866f
|
More progress on easy Jacobian testing
|
2014-11-24 07:44:06 +01:00 |
|
dellaert
|
586ad610f8
|
Added more unit tests that expose compilation issue
|
2014-11-24 02:15:48 +01:00 |
|
dellaert
|
9322b3ba8b
|
Unit test verifies Jacobian and value
|
2014-11-24 00:08:34 +01:00 |
|
dellaert
|
e0f9f7a33e
|
Fourier prototype that unfortunately does not compile
|
2014-11-23 23:16:04 +01:00 |
|
dellaert
|
f40940dffe
|
Tiny changes
|
2014-11-23 23:15:25 +01:00 |
Richard Roberts
|
f9ca07e610
|
Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax
|
2014-11-23 10:22:25 -08:00 |
|
dellaert
|
83abb4c6ed
|
unit test with manual Fourier
|
2014-11-23 18:04:54 +01:00 |
HannesSommer
|
6cc7b17687
|
proposal to fix alignment in BAD (issue #154)
|
2014-11-23 13:51:47 +01:00 |
|
Richard Roberts
|
aa093a35da
|
Updated all comma initializer usages to use .finished()
|
2014-11-22 16:35:27 -08:00 |
|
dellaert
|
d00aeb7e70
|
Formatting and some small problems
|
2014-11-22 21:48:36 +01:00 |
|
HannesSommer
|
b4fe033d12
|
added CallRecord unit test
|
2014-11-21 23:04:58 +01:00 |
|
HannesSommer
|
f699dd26bb
|
correct case in import
|
2014-11-21 21:10:12 +01:00 |
|
dellaert
|
2983cf33a6
|
Created CallRecord header
|
2014-11-21 15:48:10 +01:00 |
|
dellaert
|
865b0c0129
|
Fixed compile issue in Debug mode
|
2014-11-14 02:13:11 +01:00 |
|
dellaert
|
e0c4d84dd7
|
Fixed some tests/warnings in quaternion mode
|
2014-11-03 00:59:19 +01:00 |
Mike Bosse
|
11416cac65
|
Merge branch 'feature/BAD' into feature/BAD_generic_value_traits
Conflicts:
gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
|
2014-11-02 19:00:30 +01:00 |
|
dellaert
|
d2f56b13ed
|
Non-trivial noise models now correctly handled (at a small performance penalty, due to malloc of Vector b).
|
2014-11-02 14:37:52 +01:00 |
|
dellaert
|
b9e3c3b116
|
Made unsafe constructor private, but made ExpressionFactor<T> a friend.
|
2014-11-02 12:01:52 +01:00 |
|
dellaert
|
cb69f2cb82
|
Fastest linearize so far. Putting 'unsafe' constructor in JacobianFactor itself makes a *huge* difference.
|
2014-11-02 11:40:48 +01:00 |
|
dellaert
|
7aaf4dae8c
|
Merge remote-tracking branch 'origin/feature/BAD_VerticalBlockMatrix' into feature/BAD_WriteableJacobianFactor
Conflicts:
gtsam_unstable/nonlinear/ExpressionFactor.h
|
2014-11-01 17:45:23 +01:00 |
|
dellaert
|
7debde7518
|
Moved to ExpressionFactor that now uses it - timing seems worse ?
|
2014-11-01 15:12:06 +01:00 |
|
dellaert
|
12e38a44e4
|
WriteableJacobianFactor will allow ExpressionFactor to write into the factor directly, (hopefull) eliminating huge overhead.
|
2014-11-01 14:13:08 +01:00 |
|
dellaert
|
a4fa61a7a4
|
Removed JacobianMap tests
|
2014-11-01 11:56:38 +01:00 |
|
dellaert
|
d0c3bc0c8e
|
Fixed tests
|
2014-10-31 16:27:54 +01:00 |
|
Mike Bosse
|
80187362b8
|
attemping to expose ChartValue for expressions with non DefaultCharts, but needs testing
|
2014-10-28 11:20:02 +01:00 |
|
Mike Bosse
|
4a3dc51f85
|
more tests work, except for serialization based tests
|
2014-10-24 23:47:02 +02:00 |
|
dellaert
|
e7ec6b3fa5
|
Fixed size
|
2014-10-23 12:04:16 +02:00 |
|
dellaert
|
49ff33602d
|
Undid change
|
2014-10-23 01:44:04 +02:00 |
|
dellaert
|
0501750c7c
|
Fixed accuracy and size issues in Quaternion mode
|
2014-10-22 22:54:25 +02:00 |
|
dellaert
|
48a6777935
|
Some refactoring
|
2014-10-22 16:26:40 +02:00 |
|
dellaert
|
f44e6f0187
|
Moved AdaptAutoDiff template in its own header file
|
2014-10-22 11:41:04 +02:00 |
|
dellaert
|
516bb4b0b1
|
Isolated Snavely example
|
2014-10-22 11:23:35 +02:00 |
|
dellaert
|
439f51ec7f
|
test out invoke
|
2014-10-22 10:10:58 +02:00 |
|
dellaert
|
1eb5e185e5
|
New numericalDerivatives with traits an Charts - still some segfaults, *and* there should be no need for (a) multiple prototypes to match against c++ pointers, (b) the use of explicit template arguments. A task for someone...
|
2014-10-21 18:50:52 +02:00 |
|
dellaert
|
224b71d696
|
Created testManifold
|
2014-10-21 12:54:28 +02:00 |
|
dellaert
|
0acffe5ae9
|
Fixed bug in DefaultChart: keeping a reference s never a good idea.
|
2014-10-21 11:13:14 +02:00 |
|
dellaert
|
25ad9ade05
|
Moved AdaptAutoDiff into its own test
|
2014-10-21 10:42:30 +02:00 |
|
dellaert
|
bf16446f92
|
Deal with traits changes
|
2014-10-21 01:26:17 +02:00 |
|
dellaert
|
e0841fb3e6
|
No more Ceres dependecy, copied relevant Ceres files here (for now)
|
2014-10-20 23:53:56 +02:00 |
|
dellaert
|
bce84ca4db
|
Successfully created Expression from AutoDiff function!
|
2014-10-20 15:38:27 +02:00 |
|
dellaert
|
bf5580d518
|
AdaptAutoDiff now works with RowMajor Eigen matrices
|
2014-10-20 14:39:28 +02:00 |
|
dellaert
|
df5e584412
|
Compiles, but Jacobains not correct yet
|
2014-10-20 14:32:20 +02:00 |
|
dellaert
|
a423f284e9
|
Canonical coordinates prototype, works for Snavely
|
2014-10-20 14:23:08 +02:00 |
|
dellaert
|
821f776118
|
Wrapper works to some extent
|
2014-10-20 09:43:32 +02:00 |
|
dellaert
|
7ebc8e969f
|
Charts with default constructors
|
2014-10-20 09:29:45 +02:00 |
|
dellaert
|
63ae33088e
|
Some success on the way to autodiff
|
2014-10-19 23:47:59 +02:00 |
|
dellaert
|
eac76cd0f0
|
Some progress on defining interface
|
2014-10-19 11:18:36 +02:00 |
|
dellaert
|
6e142184cc
|
Implemented is_manifold and dimension for all types in testExpressionFactor
|
2014-10-19 00:35:25 +02:00 |
|
dellaert
|
d436d99146
|
Moved stuff to Manifold.h
|
2014-10-18 23:25:25 +02:00 |
|
dellaert
|
fcda501ee2
|
double as manifold. No more LieScalar !
|
2014-10-18 18:13:33 +02:00 |
|
dellaert
|
ed6a2b6eff
|
Charts !!!!
|
2014-10-18 17:11:28 +02:00 |
|
dellaert
|
9c97b1d8a0
|
Some more refactoring
|
2014-10-18 16:45:04 +02:00 |
|
dellaert
|
66b3081603
|
localCoordinates and retract
|
2014-10-18 15:02:22 +02:00 |
|
dellaert
|
10cfd47404
|
TangentVector meta-function
|
2014-10-18 14:29:40 +02:00 |
|
dellaert
|
ec69949f43
|
Point2 specialized
|
2014-10-18 14:22:01 +02:00 |
|
dellaert
|
f08dc6c031
|
More boost-style traits
|
2014-10-18 14:16:24 +02:00 |
|
dellaert
|
4c33444415
|
Snavely tested
|
2014-10-18 13:16:44 +02:00 |
|
dellaert
|
bdf12b14b9
|
Add Snavely cost function
|
2014-10-18 12:35:02 +02:00 |
|
dellaert
|
7018afdd58
|
Slight refactor of numerical derivatives
|
2014-10-18 12:34:05 +02:00 |
|
dellaert
|
2972671064
|
Use boost::bind to avoid code duplication
|
2014-10-18 12:29:14 +02:00 |
|
dellaert
|
db037c96c5
|
Implemented manifold_traits to allow numerical derivatives wrpt Matrix arguments
|
2014-10-18 12:12:25 +02:00 |
|
dellaert
|
2cbba15573
|
ceres style functor
|
2014-10-18 00:29:18 +02:00 |
|
dellaert
|
02d25f6658
|
New tests on traceSize
|
2014-10-16 15:07:05 +02:00 |
|
dellaert
|
0bcca2c386
|
Drastic reduction in allocations at ExpressionFactor construction by having dims constructed imperatively, and using it for both keys_ and dimensions_
|
2014-10-16 14:16:58 +02:00 |
|
dellaert
|
3413b98331
|
New storage sizes
|
2014-10-15 14:30:36 +02:00 |
|
dellaert
|
79ff0c54f9
|
createUnknowns
|
2014-10-15 10:38:54 +02:00 |
|
dellaert
|
c971207abf
|
Switched to vector for dimensions
|
2014-10-14 17:16:31 +02:00 |
|
dellaert
|
1c3f328fb2
|
Successful switch to Blocks !
|
2014-10-14 15:43:41 +02:00 |
|
dellaert
|
d8d94d0c34
|
dimensions implemented and tested
|
2014-10-14 09:53:47 +02:00 |
|
dellaert
|
0a41b0a027
|
Moved meta-programming tests to testExpressionMeta.cpp
|
2014-10-14 08:53:16 +02:00 |
|
dellaert
|
ef5bf03c81
|
Clean up
|
2014-10-13 23:04:30 +02:00 |
|
dellaert
|
70f0caf0e3
|
Experimenting w Fusion
|
2014-10-13 22:50:47 +02:00 |
|
dellaert
|
dda91df6e1
|
On the way to full fusion: Optional meta-function now separate from Jacobian.
|
2014-10-13 18:32:58 +02:00 |
|
dellaert
|
ba0b68110f
|
Boost Fusion needed to access values :-(
|
2014-10-13 13:56:51 +02:00 |
|
dellaert
|
a52ff52941
|
Try some meta-transforms
|
2014-10-13 13:34:00 +02:00 |
|
dellaert
|
1c1695353e
|
Now we can apply ExecutionTrace and Expression as meta-functions
|
2014-10-13 13:04:37 +02:00 |
|
dellaert
|
74269902d7
|
Big collapse now realized all the way through
|
2014-10-13 11:37:47 +02:00 |
|
dellaert
|
da0e5fe52f
|
The great collapse: instead of two recursively defined classes, there is now only one. The Record class is now a (recursive) inner class.
|
2014-10-13 10:50:05 +02:00 |
|
dellaert
|
7fde47c48b
|
No more JacobianTA typedefs -> all use Jacobian<T,A> now.
|
2014-10-13 09:25:06 +02:00 |
|
dellaert
|
8100d89094
|
So much better as methods
|
2014-10-12 23:57:08 +02:00 |
|
dellaert
|
55cc4ba56c
|
Switched names of fold result and meta-function that is folded over
|
2014-10-12 23:31:58 +02:00 |
|
dellaert
|
ef21a4ba4a
|
Major re-org in preparation of recursive Functional nodes
|
2014-10-12 23:03:33 +02:00 |
|
dellaert
|
408be628d2
|
Small change in meta-programming, big improvement in clarity
|
2014-10-12 22:17:21 +02:00 |
|
dellaert
|
107bcd8bb4
|
Going forwards, we default to reverse :-)
|
2014-10-12 22:04:40 +02:00 |
|
dellaert
|
4d1eb05c7d
|
Passing JacobianMap as an argument now..
|
2014-10-12 20:16:08 +02:00 |
|
dellaert
|
ed62271f81
|
Dealing with constrained noise model
|
2014-10-12 10:52:07 +02:00 |
|
dellaert
|
c9f80536c0
|
Added a constraint model
|
2014-10-11 23:07:23 +02:00 |
|
dellaert
|
1bac83381f
|
Merge remote-tracking branch 'origin/feature/BAD_meta' into feature/BAD: Now the Record structures are recursively generated using template meta-programming, basically mpl::fold
Conflicts:
gtsam_unstable/nonlinear/Expression-inl.h
|
2014-10-11 15:20:12 +02:00 |
|
dellaert
|
88f9a423c5
|
Numbered types avoid ambiguity
|
2014-10-11 14:19:39 +02:00 |
|
dellaert
|
ecf6462a25
|
Victory!! Unit tests work!
|
2014-10-11 13:07:58 +02:00 |