85397223ef
fix QPSolver unit tests
2014-12-09 16:27:11 -05:00
9b418c98ca
fix LPSolver unittest
2014-12-09 16:26:19 -05:00
1e778cf77b
No longer need to cast function pointers for expressions on Windows, with Optional Jacobian
2014-12-09 11:53:35 -05:00
137ea64200
Updating with OptionalJacobian
2014-12-09 11:49:47 -05:00
3bd491bf66
Merge branch 'develop' into fix/windowsExpressions
2014-12-09 11:04:30 -05:00
001794ac84
refactor QPSolver inprogress... Compiled but tests failed.
2014-12-09 06:13:57 -05:00
8c4705b905
check testable concept
2014-12-09 06:13:01 -05:00
a4f8ead2a6
add print
2014-12-09 06:12:41 -05:00
cea76a2848
More template handholding for windows
2014-12-08 21:48:59 -05:00
701dcc1c99
Correcting VLA issue, and add template specification for between Pose2 objects. More template specifcations will be needed on windows, unless another fix is found
2014-12-08 21:39:12 -05:00
468aa5d6b6
Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives
2014-12-05 22:23:12 +01:00
a7b61373a9
Fix include path for moved Autodiff stuff
2014-12-05 13:52:49 -05:00
f71513b3bf
Compiles and test runs
2014-12-05 15:50:09 +01:00
51c4a50c23
Initial broken commit of Similarity Transform
2014-12-05 09:28:10 -05:00
02075b7575
Moved to project
2014-12-04 21:08:31 +01:00
4fd2a288a2
Expressions now require OptionalJacobian
2014-12-04 21:08:15 +01:00
96016edf85
Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives
...
Conflicts:
.cproject
2014-12-04 21:07:34 +01:00
30c4092d80
Move AdaptAutodiff and test to close issue #142
2014-12-04 12:15:53 -05:00
d2e53d4fe9
"Fixed" AHRS
2014-12-04 12:30:41 +01:00
003e7a06ab
3rdparty/ceres include paths
2014-12-03 23:11:54 -05:00
cbaf96e28c
Move and rename ceres headers
2014-12-03 23:07:26 -05:00
4e557d38e6
updated Matrix.h with commonly used matrices.
2014-12-03 09:59:10 -05:00
b318857216
Now valgrind error free
2014-12-02 08:37:32 -05:00
468d1bd78a
Fixed unitialized error, fixes issue #179
2014-12-02 11:10:59 +01:00
1330d6b7f2
Removed legacy code
2014-12-02 11:10:29 +01:00
6910c70d4b
Prototype FourierDecomposition class
2014-12-01 22:30:04 +01:00
a92f9b3335
Merged in fix/unrollingReverseADInterfaceRecursionForCodeSimplicity (pull request #56 )
...
unrolled the reverseAD recursion (issue #151 )
2014-12-01 20:43:45 +01:00
c7ab79690b
missing <limits> for std::numeric_limits
2014-12-01 12:38:17 -05:00
6c62609737
- introduced CallRecordMaxVirtualStaticRows for keeping CallRecord.h and testCallRecord.cpp in sync with respect to this.
...
- reactivated the fully dynamically sized matrix support in CallRecord.h
- small cleanups
2014-11-29 16:03:33 +01:00
e2e29dac68
Removed #ifdef blocks and documented the AD process by numbering the methods in the order they are called
2014-11-29 13:09:17 +01:00
7989a8c0dc
Added wide test
2014-11-29 13:08:10 +01:00
18a8de1f46
- unrolled the reverseAD recursion
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- MaxVirtualStaticRows is now a macro and some preprocessor derictives activate and deactivate the corresponding defintions. This could be of course removed at some point.
2014-11-29 10:14:19 +01:00
c90bc5c34a
Excluded Paul's test
2014-11-29 08:01:17 +01:00
6505e602d8
FixedRef is now OptionalJacobian
2014-11-28 17:14:26 +01:00
747071138e
Use new FixedRef type in tests
2014-11-28 01:58:24 +01:00
dc40864a8f
Excluded Paul's test
2014-11-28 01:58:11 +01:00
0d41523725
Use new FixedRef type
2014-11-28 01:57:55 +01:00
ee790839c6
Now only accept new FixedRef type
2014-11-28 01:57:45 +01:00
3aa7fd6d18
add LinearConstraint
2014-11-27 10:45:23 -05:00
88693e2129
Comments (ineq -> inequality)
2014-11-27 11:01:45 +01:00
3800e1f101
initials -> initialValues
2014-11-27 10:52:25 +01:00
4871202664
identifyLeavingConstraint
2014-11-27 10:49:35 +01:00
9ca2ba9b66
Simplified freeHessians_ using inner class
2014-11-27 10:47:45 +01:00
b5e8be56f3
more informative comment
2014-11-26 18:53:45 -05:00
ba911edfad
Fixed up comments
2014-11-26 22:59:33 +01:00
ad07531453
Tested TestCase, fixed wrong documentation
2014-11-26 22:40:48 +01:00
3a2b2efdbc
Merged in feature/ExpressionsToBase (pull request #51 )
...
GTSAM 4 Roadmap: Move Expressions to nonlinear
2014-11-26 21:42:46 +01:00
12ca4317a2
fix namespace
2014-11-26 15:27:28 -05:00
cc4cdc93a3
Correct issue with function overload ambiguity when passing function pointer to expression constructor on windows
2014-11-26 15:06:16 -05:00
e1b453b952
Fixed warning
2014-11-26 17:32:30 +01:00
d5ca61972f
Fixed assert
2014-11-26 17:31:46 +01:00
72644b8ff3
Fixed headers
2014-11-26 17:31:40 +01:00
c1a10f2cf7
Moved files
2014-11-26 17:25:40 +01:00
3307a49e65
is_constrained is now isConstrained
2014-11-26 12:33:17 +01:00
c2e38633b5
Merge remote-tracking branch 'origin/develop' into feature/BAD_custom_chart
...
Conflicts:
gtsam_unstable/nonlinear/ExpressionFactor.h
2014-11-26 11:20:56 +01:00
7aaf6a1e82
Headers and standard formatting
2014-11-26 09:04:34 +01:00
50c93ec954
Merged in feature/fixIssue165 (pull request #48 )
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Safer public interface
2014-11-25 16:13:50 +01:00
dc4c0b54c0
Addressed code review by @hannessommer
2014-11-25 16:13:30 +01:00
7b1a9ba371
Merged in feature/TemplatedSmartFactors (pull request #39 )
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Templated Smart Factors
2014-11-25 07:36:14 -05:00
df91cf7fad
Made vaguely unsafe keysAndDims private (as it relies on keys and dimensions being in same order), as to not tempt people to use it.
2014-11-25 12:36:52 +01:00
2ced73ebe1
We now use safe version in unwhitenedError
2014-11-25 11:29:50 +01:00
2c35cda71f
Yet another indirection makes public code a bit cleaner.
2014-11-25 11:23:38 +01:00
07e5475b6b
Making friends...
2014-11-25 11:02:54 +01:00
e0248c3ca7
Created keysAndDims and safe version of values
2014-11-25 10:53:34 +01:00
915c760524
cleaned up the code a bit
2014-11-25 06:43:55 +01:00
5b44ddc3e5
Merge branch 'feature/BAD_custom_chart' of https://bitbucket.org/gtborg/gtsam into feature/BAD_custom_chart
2014-11-25 06:43:45 +01:00
14b582d268
cleaned up the code a bit
2014-11-25 06:42:36 +01:00
4790bade85
Moved and refactored testing
2014-11-25 00:19:01 +01:00
e34a237162
Merged in feature/ordering (pull request #34 )
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METIS Ordering
2014-11-24 18:04:35 -05:00
6c13834260
change back to lower case, and fix another similar header issue
2014-11-24 15:51:07 -05:00
923c5733c7
Merged in fix/BAD_alignment_issue_154 (pull request #42 )
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proposal to fix alignment in BAD (issue #154 )
2014-11-24 21:27:50 +01:00
5b5122d15b
Fixed a copy/paste error
2014-11-24 21:23:53 +01:00
07044137eb
A failing unit test for a custom chart
2014-11-24 21:14:59 +01:00
867acbef6c
Fixed building wrapper.
2014-11-24 20:14:56 +01:00
c570f53e57
Merged in feature/BAD_using_charts (pull request #41 )
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Working on a prototype of wrapping external types
2014-11-24 19:01:58 +01:00
ea02e577f5
Merged in feature/expressions (pull request #45 )
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Pull request for debugging Expression<double> issue
2014-11-24 18:40:31 +01:00
a9090fd7af
Cleanup with Jing
2014-11-24 15:53:13 +01:00
9f68344abb
Addressed code review
2014-11-24 12:43:30 +01:00
db6c9ff378
swtichted to Eigen::MatrixBase<Derived> as far as possible for dTdA to gain some performance and not to forget some types at some level :).
2014-11-24 10:48:15 +01:00
3bf92d1a47
Force eval
2014-11-24 09:58:47 +01:00
a44baac308
Added a function for testing charts
2014-11-24 09:29:14 +01:00
6fc3c450a7
Fixed the chart concept check and cleaned up a bit
2014-11-24 08:18:55 +01:00
df7470866f
More progress on easy Jacobian testing
2014-11-24 07:44:06 +01:00
586ad610f8
Added more unit tests that expose compilation issue
2014-11-24 02:15:48 +01:00
3ba9e8f405
Updated some usages that were missed
2014-11-23 15:24:55 -08:00
9322b3ba8b
Unit test verifies Jacobian and value
2014-11-24 00:08:34 +01:00
e0f9f7a33e
Fourier prototype that unfortunately does not compile
2014-11-23 23:16:04 +01:00
f40940dffe
Tiny changes
2014-11-23 23:15:25 +01:00
149bfe1729
Chery-picked Paul's changes
2014-11-23 23:15:10 +01:00
f9ca07e610
Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax
2014-11-23 10:22:25 -08:00
83abb4c6ed
unit test with manual Fourier
2014-11-23 18:04:54 +01:00
f21fe5043a
Created a new expressions.h file in nonlinear
2014-11-23 17:31:33 +01:00
6cc7b17687
proposal to fix alignment in BAD (issue #154 )
2014-11-23 13:51:47 +01:00
77254900f2
Updated timing scripts for comma initializer
2014-11-22 18:07:27 -08:00
aa093a35da
Updated all comma initializer usages to use .finished()
2014-11-22 16:35:27 -08:00
d00aeb7e70
Formatting and some small problems
2014-11-22 21:48:36 +01:00
cc997dd774
adapted a view comments and friendships to the new virtual inheritance sceme
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visibility fine tuning
2014-11-22 19:19:17 +01:00
620fb4566f
Fixed matlab wrappers
2014-11-22 18:22:55 +01:00
a9e3545a29
Merge remote-tracking branch 'origin/release/3.2.0' into feature/quadratic_programming
...
This should make merging in develop easier, and it also helps me understand what changed.
I mostly avoided conflicts by keeping Duy's versions of:
Conflicts:
gtsam/3rdparty/metis-5.1.0/CMakeLists.txt
gtsam/linear/JacobianFactor-inl.h
gtsam/linear/NoiseModel.cpp
gtsam/nonlinear/NonlinearFactor.h
and a number of other files. In particular, I did not upgrade Eigen or remove metis.
The following unit tests fail in this branch:
The following tests FAILED:
2 - testWrap (Failed)
85 - testGeneralSFMFactor (SEGFAULT)
142 - testIMUSystem (Failed)
178 - testTSAMFactors (Failed)
2014-11-22 15:18:09 +01:00
3ef0eabff6
Merged in changes from develop
2014-11-22 14:55:32 +01:00
aae206b308
Merge branch 'develop' into feature/BAD_using_charts
2014-11-22 14:38:55 +01:00
e5fe5676b1
Working on a prototype of wrapping external types
2014-11-22 14:10:25 +01:00
87ea6341f2
virtual inheritance for better readability and decoupling
2014-11-22 09:39:08 +01:00
b4fe033d12
added CallRecord unit test
2014-11-21 23:04:58 +01:00
32992cf05e
added missing overload for full dynamic matrix.
2014-11-21 23:04:58 +01:00
ee52ca15dd
move LPSolver and QPSolver to unstable. Add script to compile lpsolve on Mac when doing cmake if it's not found.
2014-11-21 16:04:12 -05:00
6d0c1a44e1
- some small cleanup and improved readability.
...
- virtual overload warnings should not be issued anymore
2014-11-21 21:13:24 +01:00
f699dd26bb
correct case in import
2014-11-21 21:10:12 +01:00
c238e5852c
Now uses CallRecord.h
2014-11-21 15:48:29 +01:00
2983cf33a6
Created CallRecord header
2014-11-21 15:48:10 +01:00
dd255eb24c
Remove landmark template parameter
2014-11-19 13:07:14 -05:00
6529b793cc
Some fixes for feedback reported in pull request #39
2014-11-19 12:51:12 -05:00
f3d42a8487
Move to unstable
2014-11-17 19:53:21 -05:00
36a485169d
Refactor Ordering parameters. Now compiles and passes with gcc
2014-11-17 16:16:52 -05:00
fb24ab586e
introduced a MaxVirtualStaticRows compile time constant and realized as many static rows specific virtual reverseAD methods in the CallRecord interface to speedup the Jacobian evaluatio.
2014-11-17 11:18:09 +01:00
4966f5a942
mini cleanup and improve comment TODO
2014-11-17 11:18:09 +01:00
d24b799988
Merge remote-tracking branch 'origin/develop' into feature/TemplatedSmartFactors
2014-11-14 14:35:25 -05:00
d4b868aa12
Formatting and documentation
2014-11-14 11:20:36 +01:00
87ef601b66
changes revertted to 502a745
2014-11-13 21:26:33 -05:00
ee3ea5bfad
reverse to previous MKL_BLAS defined order
2014-11-13 21:14:07 -05:00
c4f3a48bc9
Revert "Fixed remaining compile issues in "make timing""
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This reverts commit 502a7459f9
2014-11-13 21:07:27 -05:00
502a7459f9
Fixed remaining compile issues in "make timing"
2014-11-14 02:30:10 +01:00
c2c1de1761
Fix compile errors in issue #147
2014-11-14 02:19:48 +01:00
865b0c0129
Fixed compile issue in Debug mode
2014-11-14 02:13:11 +01:00
e2aef1b325
Merge remote-tracking branch 'origin/develop' into feature/BAD
2014-11-14 01:31:49 +01:00
1c97d1270d
Changing include order so as to OpenMP flags (if used) are defined
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before metis. This fixes a compilation error with testFindSeparator.cpp
2014-11-11 17:14:51 -05:00
0313c46272
fix DCHECK_LT in fix/wrap
2014-11-11 12:02:53 -05:00
265184b6c9
Avoid warning
2014-11-10 17:56:08 +01:00
e976aae38a
Avoid warning and re-formatted with BORG template
2014-11-10 16:27:33 +01:00
139ef0d61d
fix glog macro to assert
2014-11-08 22:16:32 -05:00
e4936df80a
matlab wrappers compile, but need testing
2014-11-07 22:41:21 +01:00
90ec6b1452
reverted extra spaces which were added in last commit
2014-11-07 12:11:08 +01:00
bd3f9db7df
inlined a fully specialized function template defined in a .hpp
2014-11-07 11:37:27 +01:00
a94835a2e4
Merge remote-tracking branch 'origin/develop' into feature/BAD
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Conflicts:
.cproject
gtsam/geometry/Cal3DS2.cpp
gtsam/geometry/Cal3DS2.h
gtsam/geometry/Cal3Unified.h
gtsam/navigation/CombinedImuFactor.h
gtsam/navigation/ImuFactor.h
gtsam/nonlinear/NonlinearFactor.h
gtsam/slam/tests/testPoseRotationPrior.cpp
Modified: testGaussMarkov1stOrderFactor.cpp, testPoseRotationPrior.cpp
2014-11-04 17:04:57 +01:00
3824fe5f90
Fixed assert_equal and warnings
2014-11-04 15:48:30 +01:00
efc2dc69fe
Got rid of some concats
2014-11-04 15:44:41 +01:00
4afe132b1a
Fixed dimensions of Vectors
2014-11-04 15:41:14 +01:00
da3677e704
No more LieVector/LieScalar
2014-11-03 13:52:08 +01:00
f1dd554a9d
No more LieVector (too much copy/paste here)
2014-11-03 13:38:25 +01:00
2a745b6c26
No more LieVector/LieScalar
2014-11-03 13:32:58 +01:00
39ce31d0cc
No more LieVector
2014-11-03 13:15:41 +01:00
b5327673fb
Get rid of LieVector
2014-11-03 11:02:15 +01:00
492c607f9e
No more Lie types
2014-11-03 09:27:40 +01:00
e0c4d84dd7
Fixed some tests/warnings in quaternion mode
2014-11-03 00:59:19 +01:00
11416cac65
Merge branch 'feature/BAD' into feature/BAD_generic_value_traits
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Conflicts:
gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
2014-11-02 19:00:30 +01:00
17d352bab4
Slight re-factor
2014-11-02 14:42:59 +01:00
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
8a6d8bfc82
Back to single
2014-11-02 14:35:32 +01:00
90a0fa6e45
Check if active
2014-11-02 13:53:22 +01:00
a8ab910c32
Merged twio changes in: the is_constrained() flag that does away with the dynamic cast, and the changes duy made in commit a61b49d to remove the constrained noise model hack. At the same time, both linearize methods (in expressionFactor and NonlinearFactor) now make use of is_constrained().
2014-11-02 13:45:54 +01:00
b9e3c3b116
Made unsafe constructor private, but made ExpressionFactor<T> a friend.
2014-11-02 12:01:52 +01:00
cb69f2cb82
Fastest linearize so far. Putting 'unsafe' constructor in JacobianFactor itself makes a *huge* difference.
2014-11-02 11:40:48 +01:00
7aaf4dae8c
Merge remote-tracking branch 'origin/feature/BAD_VerticalBlockMatrix' into feature/BAD_WriteableJacobianFactor
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Conflicts:
gtsam_unstable/nonlinear/ExpressionFactor.h
2014-11-01 17:45:23 +01:00
7debde7518
Moved to ExpressionFactor that now uses it - timing seems worse ?
2014-11-01 15:12:06 +01:00
12e38a44e4
WriteableJacobianFactor will allow ExpressionFactor to write into the factor directly, (hopefull) eliminating huge overhead.
2014-11-01 14:13:08 +01:00
a4fa61a7a4
Removed JacobianMap tests
2014-11-01 11:56:38 +01:00
f38b0b0eed
Fixed unwhitenedError
2014-11-01 11:50:28 +01:00
7b539fbb5c
Make JacobianMap a wrapper around a VerticalBlockMatrix, which avoids us having to make a vector of references into it
2014-11-01 11:35:49 +01:00
593edd1e5c
Fixed asserts
2014-10-31 16:29:15 +01:00
d0c3bc0c8e
Fixed tests
2014-10-31 16:27:54 +01:00
768a4abc05
Does not need lambda
2014-10-31 16:27:46 +01:00
a5b8d0fd35
Modified finding method
2014-10-31 11:06:26 -04:00
6a20d35a60
Modified pointer expression
2014-10-31 07:28:07 -04:00
133fcf20e2
Cleaned up some commented codes
2014-10-31 07:22:19 -04:00
97d4120858
Changed the type of JacobianMap as std::vector
2014-10-31 07:10:53 -04:00
699153ece9
Coding convention: convert tabs to two spaces
2014-10-30 12:44:46 -04:00
2788ec7f33
removed std::type_traits which is c++11
2014-10-29 10:23:13 +01:00
80187362b8
attemping to expose ChartValue for expressions with non DefaultCharts, but needs testing
2014-10-28 11:20:02 +01:00
bc094951ed
all values in Values container are now a ChartValue<ValueType, Chart=DefaultChart<ValueType> >
...
ChartValues are GenericValues and a Chart, which defaults to DefaultChart
had to make charts functional (ie no storage of the chart origin) so that they could be zero sized base class
otherwise there would have been a double of the memory for values (ones for the value, and once for the chart origin, which default to the same)
most tests work, execept for serialization based stuff, and const filtering of values.
2014-10-28 00:57:44 +01:00
4a3dc51f85
more tests work, except for serialization based tests
2014-10-24 23:47:02 +02:00
f916531492
remove typename from non-templated class
2014-10-24 13:06:45 -04:00
1fadda83e0
removed DerivedValue<> inheritence from classes
2014-10-24 18:34:06 +02:00
eeb0293f27
Merged in feature/FixQuaternion (pull request #22 )
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Was quaternion (somewhat) broken ?
2014-10-24 09:53:50 -04:00
e7ec6b3fa5
Fixed size
2014-10-23 12:04:16 +02:00
77e7f0437d
Merge remote-tracking branch 'origin/feature/FixQuaternion' into feature/BAD
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Conflicts:
gtsam/geometry/tests/testRot3M.cpp
gtsam/geometry/tests/testRot3Q.cpp
2014-10-23 10:03:10 +02:00
845697555a
Fixed tests for Quaternion mode but Pose3 not in EXPMAP mode
2014-10-23 09:52:35 +02:00
49ff33602d
Undid change
2014-10-23 01:44:04 +02:00
0501750c7c
Fixed accuracy and size issues in Quaternion mode
2014-10-22 22:54:25 +02:00
48a6777935
Some refactoring
2014-10-22 16:26:40 +02:00
a29f09423c
Merge branch 'develop' into feature/BAD
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Conflicts:
gtsam/linear/tests/testGaussianBayesNet.cpp
2014-10-22 13:56:27 +02:00
0f53c8d5ec
Timing of Ceres AutoDiff adaptor
2014-10-22 12:49:18 +02:00
f44e6f0187
Moved AdaptAutoDiff template in its own header file
2014-10-22 11:41:04 +02:00
516bb4b0b1
Isolated Snavely example
2014-10-22 11:23:35 +02:00
439f51ec7f
test out invoke
2014-10-22 10:10:58 +02:00
113b9d2e74
Got rid of unnecessary LieVector usage that broke fixed-code
2014-10-22 01:32:59 +02:00
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
fcbc1e90cf
More traits
2014-10-21 18:03:28 +02:00
224b71d696
Created testManifold
2014-10-21 12:54:28 +02:00
0acffe5ae9
Fixed bug in DefaultChart: keeping a reference s never a good idea.
2014-10-21 11:13:14 +02:00
25ad9ade05
Moved AdaptAutoDiff into its own test
2014-10-21 10:42:30 +02:00
bf16446f92
Deal with traits changes
2014-10-21 01:26:17 +02:00
e0841fb3e6
No more Ceres dependecy, copied relevant Ceres files here (for now)
2014-10-20 23:53:56 +02:00
bce84ca4db
Successfully created Expression from AutoDiff function!
2014-10-20 15:38:27 +02:00
bf5580d518
AdaptAutoDiff now works with RowMajor Eigen matrices
2014-10-20 14:39:28 +02:00
df5e584412
Compiles, but Jacobains not correct yet
2014-10-20 14:32:20 +02:00
a423f284e9
Canonical coordinates prototype, works for Snavely
2014-10-20 14:23:08 +02:00
821f776118
Wrapper works to some extent
2014-10-20 09:43:32 +02:00
7ebc8e969f
Charts with default constructors
2014-10-20 09:29:45 +02:00
63ae33088e
Some success on the way to autodiff
2014-10-19 23:47:59 +02:00
8ee16c9018
Comments for Paul
2014-10-19 11:19:09 +02:00
eac76cd0f0
Some progress on defining interface
2014-10-19 11:18:36 +02:00
6e142184cc
Implemented is_manifold and dimension for all types in testExpressionFactor
2014-10-19 00:35:25 +02:00
c32d2bb3b2
Fixed comments
2014-10-18 23:48:51 +02:00
d436d99146
Moved stuff to Manifold.h
2014-10-18 23:25:25 +02:00
fcda501ee2
double as manifold. No more LieScalar !
2014-10-18 18:13:33 +02:00
ed6a2b6eff
Charts !!!!
2014-10-18 17:11:28 +02:00
9c97b1d8a0
Some more refactoring
2014-10-18 16:45:04 +02:00
66b3081603
localCoordinates and retract
2014-10-18 15:02:22 +02:00
10cfd47404
TangentVector meta-function
2014-10-18 14:29:40 +02:00
ec69949f43
Point2 specialized
2014-10-18 14:22:01 +02:00
f08dc6c031
More boost-style traits
2014-10-18 14:16:24 +02:00
4c33444415
Snavely tested
2014-10-18 13:16:44 +02:00
bdf12b14b9
Add Snavely cost function
2014-10-18 12:35:02 +02:00
7018afdd58
Slight refactor of numerical derivatives
2014-10-18 12:34:05 +02:00
2972671064
Use boost::bind to avoid code duplication
2014-10-18 12:29:14 +02:00
db037c96c5
Implemented manifold_traits to allow numerical derivatives wrpt Matrix arguments
2014-10-18 12:12:25 +02:00
2cbba15573
ceres style functor
2014-10-18 00:29:18 +02:00
02d25f6658
New tests on traceSize
2014-10-16 15:07:05 +02:00
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
944422e295
Only ExpressionFactor needs dimensions! Also, add dimensions at construction -> speeds up linearize.
2014-10-16 11:15:47 +02:00
3413b98331
New storage sizes
2014-10-15 14:30:36 +02:00
4a854f7e22
No using namespace in headers
2014-10-15 11:01:27 +02:00
898c06ccbb
New multi-threaded, realistic SFM example (1M factors, not 1M calls on same factor)
2014-10-15 11:01:02 +02:00
79ff0c54f9
createUnknowns
2014-10-15 10:38:54 +02:00
649478f186
Should work but seg-faults
2014-10-15 01:19:14 +02:00
9b1c9bbf37
Allocate temporary matrix on the stack rather tahn on heap, and give VerticalBlockMatrix a view on it.
2014-10-15 00:56:06 +02:00
c88b2a5902
Fixed bizarre link erro as well as off-by-1 bug
2014-10-15 00:34:28 +02:00
0f055f7910
Pass matrix to VerticalBlockMatrix constructor
2014-10-15 00:28:53 +02:00
625b939b66
Another very significant speed-up of reverseAD pipeline, by template specialization of the leaf case for fixed matrices. Unfortunately, while this sped up reverse AD for our SFM kernel by 300%, reverseAD was only 6%, and is now 2% of total time. So, time to look elsewhere.
...
Oh, and, it is clear that the Identity matrix for Leaf only expressions is completely known at compile time: Eigen::Matrix<double, T::dimension, T::dimension>::Identity(). That should nicely speed up many a PriorFactor (replacement).
2014-10-14 23:40:21 +02:00
baaeaacabe
Made dimensions constant property. Now performance is ***blazing***, way past custom factors.
2014-10-14 17:46:57 +02:00
c971207abf
Switched to vector for dimensions
2014-10-14 17:16:31 +02:00
1c3f328fb2
Successful switch to Blocks !
2014-10-14 15:43:41 +02:00
f3e1561105
Prepare VerticalBlockMatrix for filling
2014-10-14 11:13:49 +02:00
4c76f39009
Now uses dimensions
2014-10-14 09:55:34 +02:00
d8d94d0c34
dimensions implemented and tested
2014-10-14 09:53:47 +02:00
781cc6daa9
keys now from expression_
2014-10-14 08:59:01 +02:00
0a41b0a027
Moved meta-programming tests to testExpressionMeta.cpp
2014-10-14 08:53:16 +02:00
ef5bf03c81
Clean up
2014-10-13 23:04:30 +02:00
70f0caf0e3
Experimenting w Fusion
2014-10-13 22:50:47 +02:00
dda91df6e1
On the way to full fusion: Optional meta-function now separate from Jacobian.
2014-10-13 18:32:58 +02:00
ba0b68110f
Boost Fusion needed to access values :-(
2014-10-13 13:56:51 +02:00
a52ff52941
Try some meta-transforms
2014-10-13 13:34:00 +02:00
1c1695353e
Now we can apply ExecutionTrace and Expression as meta-functions
2014-10-13 13:04:37 +02:00
c11d7885e1
Comments
2014-10-13 11:55:16 +02:00
74269902d7
Big collapse now realized all the way through
2014-10-13 11:37:47 +02:00
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
bc9e11f43c
Pre-big collapse: prototype recursively defined inner Record2 type
2014-10-13 10:10:46 +02:00
7fde47c48b
No more JacobianTA typedefs -> all use Jacobian<T,A> now.
2014-10-13 09:25:06 +02:00
7848d74928
Detailed explanation of recursive class composition pattern.
...
Jacobian type now defined in argument.
2014-10-13 08:49:12 +02:00
7f621af54a
Fixed bug
2014-10-13 00:57:11 +02:00
2e8d868cd2
keys have been implemented
2014-10-13 00:37:46 +02:00
a9d9fcd241
FunctionalNode inherited for all three functional ExpressionNode sub-classes
2014-10-13 00:31:03 +02:00
8100d89094
So much better as methods
2014-10-12 23:57:08 +02:00
55cc4ba56c
Switched names of fold result and meta-function that is folded over
2014-10-12 23:31:58 +02:00
ef21a4ba4a
Major re-org in preparation of recursive Functional nodes
2014-10-12 23:03:33 +02:00
408be628d2
Small change in meta-programming, big improvement in clarity
2014-10-12 22:17:21 +02:00
107bcd8bb4
Going forwards, we default to reverse :-)
2014-10-12 22:04:40 +02:00
4d1eb05c7d
Passing JacobianMap as an argument now..
2014-10-12 20:16:08 +02:00
dc541f1051
made traceSize an instance variable
2014-10-12 18:52:12 +02:00
7a5f48f6dd
Fixed typo in assert
2014-10-12 12:20:12 +02:00
fea2eb0b5f
Inlined VerticalBlockMatrix construction
2014-10-12 11:05:43 +02:00
ed62271f81
Dealing with constrained noise model
2014-10-12 10:52:07 +02:00
86d3e559e6
Merge branch 'feature/BAD' into feature/BAD_linearize
2014-10-11 23:07:40 +02:00
c9f80536c0
Added a constraint model
2014-10-11 23:07:23 +02:00
3c6f7a42e6
Merge branch 'feature/BAD' into feature/BAD_linearize: easier trace/dTdA access
2014-10-11 22:31:43 +02:00
c776e87f78
Refactoring for readability/sanity
2014-10-11 21:33:07 +02:00
0c7ea68f2f
Now overwriting linearize as preparation for direct VericalBlockMatrix
2014-10-11 17:05:53 +02:00
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
88f9a423c5
Numbered types avoid ambiguity
2014-10-11 14:19:39 +02:00
ecf6462a25
Victory!! Unit tests work!
2014-10-11 13:07:58 +02:00
599e232d1d
traceSize, two tests work
2014-10-11 12:11:22 +02:00
9585823d5d
...but works with correct size !
2014-10-11 11:32:52 +02:00
deed7b8018
Unary prints, but still-faults downstream
2014-10-11 11:30:06 +02:00
05f78b6dca
Re-factor, allow traceExecution
2014-10-11 11:29:42 +02:00
1f692638f5
Accessing matrices works
2014-10-11 11:04:39 +02:00
69b69a0bc8
placement new works! And sophisticated Trace::print
2014-10-11 11:03:35 +02:00
eef2d49e8d
First prototype, segfaults
2014-10-11 10:27:30 +02:00
e09e24964a
No need to have all of T as template parameter
2014-10-11 09:00:03 +02:00
820988b04e
Do casting inside Trace
2014-10-11 08:52:24 +02:00
52fc6f2db4
Testing old trace
2014-10-11 08:41:39 +02:00
820e9553ee
TestBinaryExpression friend
2014-10-11 08:17:46 +02:00
a2d2d82e0e
some namespace management
2014-10-11 07:39:13 +02:00
23485a0e71
New and consistent naming: ExecutionTrace = whole tree, CallRecord = local information left by the function.
2014-10-10 17:45:39 +02:00
5cfe761f27
Timing multi-threaded code
2014-10-10 17:17:20 +02:00
ae93dd9869
Commented out repeated arguments
2014-10-10 13:57:37 +02:00
58bbce482d
Ternary works, same caveat
2014-10-10 13:33:13 +02:00
406467e341
Binary works, but it's ugly and does not work for repeated types
2014-10-10 13:29:56 +02:00
24714e48c5
Works for Unary !
2014-10-10 12:38:26 +02:00
f8468bd596
Recursion done
2014-10-10 12:31:40 +02:00
40fc6f5c03
Working prototype
2014-10-10 12:29:01 +02:00
dd1b931802
Successfully defined Jacobian
2014-10-10 12:03:13 +02:00
732ff54b83
More experiments
2014-10-10 11:41:01 +02:00
8e264f4289
Attempt at defining Trace recursively
2014-10-09 14:38:16 +02:00
5e5457b390
Renamed entry point to startReverseAD to emphasize it is only called once
2014-10-09 13:42:43 +02:00
563c4d214c
Renamed BADFactor -> ExpressionFactor
2014-10-09 13:00:56 +02:00
7e069191e5
Slight refactor
2014-10-09 10:58:46 +02:00
a38a0ae9e1
Some comments
2014-10-09 00:21:10 +02:00
9ebe1e6d10
Super-speedup by specializing to 2-dimensional output (for now). Using some template magic.
2014-10-08 23:50:17 +02:00
31c138d0d6
Profile Bin(Leaf,Un(Bin(Leaf,Leaf))) by default
2014-10-08 17:52:46 +02:00
abb92632b8
Empty derived destructors are not needed
2014-10-08 17:32:46 +02:00
6a1bc6e242
Documentation
2014-10-08 17:28:33 +02:00
4ac065fab4
Show explanation of timing
2014-10-08 17:27:46 +02:00
ce2dcaeb3b
Tagged union, lightweight
2014-10-08 15:39:59 +02:00
390842e1f7
Put Trace in front
2014-10-08 13:58:15 +02:00
ba9faa68b6
New Leaf/noise tests
2014-10-08 13:56:54 +02:00
d7022a21c7
More samples to average
2014-10-07 20:11:19 +02:00
c4a92acde1
Avoid argument temporaries
2014-10-07 19:35:44 +02:00
84987aa351
Deal with Rot3 changes
2014-10-07 19:35:20 +02:00
3c1c9c6d12
Switch to pointers - nice improvement
2014-10-07 18:11:12 +02:00
982dc29d2f
Time ternary version as well
2014-10-07 18:10:53 +02:00
e4392c0a3b
JacobianTrace no longer templated
2014-10-07 16:11:55 +02:00
83d77271d9
Ternary now fixed
2014-10-07 13:04:04 +02:00
613cb0bb12
Binary functions now take fixed Jacobians
2014-10-07 01:01:46 +02:00
921b79f446
No more default argument
2014-10-07 01:01:16 +02:00
0a6fe0f0a8
No more default argument
2014-10-07 00:44:40 +02:00
7a4f307342
moved biasedGPS and GaussMarkov to unstable
2014-10-06 13:11:40 -04:00
e48b38ca21
Fixing uncalibrate (does not yet compile)
2014-10-06 15:45:26 +02:00
e5c3f4228a
Some fixed size in UnaryExpression
2014-10-06 14:22:18 +02:00
51eab1068f
Time the most common SFM expression
2014-10-06 13:57:37 +02:00
5c96b7f38d
Made naming more suggestive of AD process rather than generic H1,H2...
2014-10-06 13:19:01 +02:00
0ed96dda33
Avoid alloc and copy
2014-10-06 12:14:15 +02:00
c748fdb404
Re-did with move semantics. Dangerously imperative.
2014-10-06 12:13:52 +02:00
69f74014aa
add traceExecution in TernaryExpression
2014-10-05 17:40:11 -04:00
cc3c0fcfec
add trace structure for reverse AD in TernaryExpression
2014-10-05 17:38:09 -04:00
0421d05d44
add forward() in TernaryExpression
2014-10-05 17:36:53 -04:00
0a7db2d252
Merge remote-tracking branch 'origin/feature/BAD' into feature/BAD
2014-10-05 16:16:19 -04:00
40565564f5
TernaryExpression is added
2014-10-05 16:09:24 -04:00
632810ff9a
Now only inline add, for performance
2014-10-05 21:53:40 +02:00
33c1d072a4
Add switch between inline add and JacobianMap as a new class.
2014-10-05 21:49:30 +02:00
5b13306104
Split out starting the AD process vs. propagating it, is more efficient than starting with a useless identity matrix
2014-10-05 19:27:52 +02:00
ff9dd8eb8d
Removed some obsolete code
2014-10-05 19:09:16 +02:00
caf742d5e1
Better names
2014-10-05 17:20:55 +02:00
001504a432
JacobianTrace base, and avoid copying JacobianMaps.
2014-10-05 17:12:38 +02:00
2718662467
Removed debug printing
2014-10-05 15:01:36 +02:00
fdf9c10b42
Implemented value and now testBADFactor also runs
2014-10-05 15:00:10 +02:00
8db2cd17fc
Finished constant Trace and *everything* just works!!! Amazing :-)
2014-10-05 13:41:20 +02:00
7c19542245
Leaf Trace compiles
2014-10-05 13:37:51 +02:00
75445307b2
Unary Trace done
2014-10-05 13:33:23 +02:00
8e527a2251
Binary Trace compiles, runs
2014-10-05 13:27:41 +02:00
303d37a716
Separate hierarchy
2014-10-05 11:22:14 +02:00
6fb10a5de9
Rename, emphasizing is forward AD
2014-10-03 21:13:34 +02:00
3f017bf51f
An optimized version
2014-10-03 14:35:39 +02:00
c20b588fe0
timing, is pretty bleak for Expressions
2014-10-03 14:19:23 +02:00
a5b92f0342
MUCH simpler by just using boost::bind to turn methods into functions
2014-10-03 13:18:25 +02:00
bdf5451565
Typedefs
2014-10-03 12:52:35 +02:00
c8dd361080
Common base class BinaryExpression
2014-10-03 12:48:28 +02:00
987b123ec9
NullaryMethodExpression and UnaryFunctionExpression, derived from UnaryExpression
2014-10-03 12:40:26 +02:00
aefad1e548
MAJOR refactor: I now use separate functions for value (only) and "augmented", for combined value-derivatives. The latter returns a new templated class, Augmented<T>.
2014-10-03 10:25:02 +02:00
da4cfe6fdc
ternary test
2014-10-02 23:39:17 +02:00
59af1c4b6d
Major refactor that does not ask for derivatives when argument is constant. Also split combine into double add, added print, and moved those two statics to ExpressionNode.
2014-10-02 23:28:19 +02:00
166396d6f6
Added tests with constant Expression
2014-10-02 23:26:59 +02:00
e7e7b3806f
New test with constant argument
2014-10-02 20:28:37 +02:00
d5709facf6
Added Pose2SLAMExample
2014-10-02 20:20:00 +02:00
8f856ceaf8
Renamed
2014-10-02 20:19:49 +02:00
df17758469
Assume H pre-allocated as usual, and *move* Jacobians to avoid allocations
2014-10-02 13:30:16 +02:00
0800b83285
Slight efficiencies
2014-10-02 11:44:16 +02:00
bef23a2008
ExpressionExample now only uses BADFactors and yields same result as SFMExample
2014-10-02 11:21:24 +02:00
ebb091d390
BadFactor is now a functioning NoiseModelFactor
2014-10-02 11:01:39 +02:00
3f5aa0f23e
Expression version of SFMExample (in progress)
2014-10-01 14:10:54 +02:00
ce53346a9e
Added Symbol versions
2014-10-01 13:12:07 +02:00
0d94eeb480
Created expressions.h header
2014-10-01 11:25:49 +02:00
254f8c5f75
Possible naming convention
2014-10-01 11:01:38 +02:00
a6c1ba19cc
Concise version
2014-10-01 10:53:35 +02:00
d45250a989
Fixed dim
2014-10-01 10:45:57 +02:00
d935172ac5
Tightened
2014-10-01 10:43:03 +02:00
8f6eae922a
Tightened/cleaned up
2014-10-01 10:36:24 +02:00
837b2a6bc0
Fixed the member function with very ugly syntax
2014-09-30 23:13:07 +02:00
c68c2d2dac
Prototype code for passing methods. Does not work (uncomment line 61)
2014-09-30 13:19:44 +02:00
ae17f8a82f
Some refactoring, new static method "combine"
2014-09-30 13:00:37 +02:00
374140abb8
Moved all BAD stuff to nonlinear
2014-09-30 12:34:03 +02:00
1aa7b570f9
Added BADFactor header and created new test
2014-09-30 12:30:15 +02:00
ef52e12f87
Split off BADFactor code from Expression
2014-09-30 12:29:57 +02:00
5a1ea6071b
Split off ExpressionNode hierarchy
2014-09-30 12:20:02 +02:00
e2f6f01941
Some cleanup of headers/old code
2014-09-30 12:12:17 +02:00
e789de2353
Check derivatives of compose
2014-09-29 12:14:59 +02:00
05c49601ed
Added Expression header
2014-09-29 12:06:04 +02:00
de3e1c3ed1
Fixed the product compilation
2014-09-29 07:22:25 +02:00
10a35f3535
Structure for compose. Does not compile (uncomment line 492)
2014-09-28 17:50:36 +02:00
7be6ac0e8c
Now compiles but product construction fails because optional derivatives can't be delivered by the operator*()
2014-09-28 10:22:19 +02:00
11187a4c0d
I added operator logic but can't get it to compile
2014-09-27 18:22:37 +02:00
ab1f4c1e32
keys now functional
2014-09-27 16:08:59 +02:00
186afcc95e
Made constructors private
2014-09-27 15:58:34 +02:00
e487979b0f
Removed obsolete typedefs
2014-09-27 15:49:25 +02:00
cde9a41acc
Formatting only
2014-09-27 15:48:07 +02:00
768c7f00e1
Removed the clone method
2014-09-27 15:01:02 +02:00
9eed7e10fe
Added testBAD.run target, fixed an issue with getKeys
2014-09-27 14:08:31 +02:00
1a00d7e3d9
Second draft of the BAD implementation
2014-09-27 11:39:46 +02:00
e0a9eb63ce
Fix for Windows: renamed some tests
2014-09-24 16:47:07 -04:00
b47837462e
Unit test succeeds !!!
2014-09-21 18:54:01 +02:00
4bc82da85c
Compile with optional derivatives
2014-09-21 18:36:19 +02:00
8e3a0f4847
Prototype [jacobians] code
2014-09-21 18:22:28 +02:00
583c81ffea
Implemented uncalibrate, value test succeeds
2014-09-21 17:59:34 +02:00
6a5e4191a3
UnaryExpression
2014-09-21 17:43:47 +02:00
b89f65cccc
BinaryExpression
2014-09-21 17:37:09 +02:00
59b0e6a657
Progress on error
2014-09-21 17:13:25 +02:00
d9fafc1bf1
No more base class
2014-09-21 16:48:24 +02:00
7a64e2e546
Class hierarchy
2014-09-21 16:30:30 +02:00
6532966f62
Call JacobianFactor constructor with map
2014-09-21 13:11:55 +02:00
c7b6a9af12
Now use old-style factor to create expected value and derivatives
2014-09-21 05:33:53 -04:00
a76c27d074
Now just linearize
2014-09-18 18:33:11 -04:00
b19132e004
First version of test, with vector of Matrices
2014-09-18 17:10:39 -05:00
be68cc0047
add given marginals to update_noiseModel to improve speed
2014-09-15 03:03:25 -04:00
1a7653730c
fix headers for TransBtwRobotFactorEM
2014-09-13 18:12:28 -04:00
6b890cec0e
added updateNoiseModels functionality
2014-09-10 00:24:32 +03:00
2634b2e890
Finish concurrent-calibration
2014-08-12 16:00:20 -04:00
50c8313233
Rename TransformProjectionFactor to ProjectionFactorPPP
2014-08-12 15:55:28 -04:00
2c3f6e563d
Renamed TransformCalProjectionFactor to ProjectionFactorPPPC to follow new naming convention
2014-08-12 15:29:05 -04:00
bcab483574
Changed norm to determinant.
2014-08-01 21:51:52 +03:00
89410fe1ee
added updateNoiseModels_givenCovs to BetweenFactorEM.
2014-08-01 21:11:19 +03:00
bc982293ab
New unit tests for quaternary pose+transform+landmark+calibration factor
2014-07-29 21:55:14 -04:00
f75f26fb63
Fix for Mac
2014-07-22 22:00:33 -04:00
8bad295209
Changed initial noise generation for SmartStereoProjectionFactorExample to Y direction, changed noise generation scale
2014-07-22 12:49:09 -04:00
a297434148
Modified SmartStereoProjectionFactorExample to write optimized poses to file
2014-07-22 09:08:38 -04:00
b5b1bbfba0
improve TransBtwRobotEM factor's preformance by removing redundant unwhitenedError calc
2014-07-18 17:11:21 -04:00
e06c2cfacc
change few function parameters to const reference to improve preformance of TransformBtwRobot factors
2014-07-18 15:59:14 -04:00
e7c82652af
Added option to increase initial error in SmartStereoProjectionFactorExample
2014-07-16 14:45:56 -04:00
f4dc6a3a95
Fix metis linking in tests
2014-07-16 14:45:12 -04:00
d68e6b9add
Noisemodel dimension 2->3
2014-07-15 13:09:12 -04:00
4c076fca2d
Added SmartStereoProjectionFactor example
2014-07-15 10:14:23 -04:00
f261a6ddbc
Merge remote-tracking branch 'origin/develop' into feature/concurrent-calibration
2014-07-02 15:49:47 -04:00
8bc87e8f4f
Transform + Calibration examples and factor
2014-07-01 16:33:23 -04:00
5b2f4a2c3a
Move Transform factors to unstable
2014-07-01 16:03:35 -04:00
991906181b
Updating EM factor (to accout for uncertainty in states)
2014-06-30 20:43:25 +03:00
946cc5338a
Merge branch 'develop' into feature/timing_scripts_build
...
Conflicts:
gtsam_unstable/CMakeLists.txt
2014-06-21 08:55:49 -07:00
7485a8f2d5
Merge remote-tracking branch 'origin/develop' into feature/concurrent-calibration
2014-06-20 13:48:26 -04:00
3bacdbbec5
Move Smart Projection Factor wrapper to stable
2014-06-20 13:41:51 -04:00
a34dff1397
Merge remote-tracking branch 'origin/feature/new_imu_factors' into develop
2014-06-20 13:32:34 -04:00
67e0e71802
First script to experiment with Concurrent calibration estimation
2014-06-13 12:17:45 -04:00
9f796565d0
print optimization errors for now
2014-06-12 16:24:03 -04:00
8bee2cd70f
Fixed unstable examples never getting built
2014-06-12 14:40:24 -04:00
fe235b1209
Building timing scripts using new timing script support in GtsamTesting.cmake. Fixed compile errors in timing scripts but disabled a couple.
2014-06-07 19:02:11 -07:00
2591f7dca2
Fixed missing gtsam_unstable/partition tests
2014-06-07 19:01:13 -07:00
87f5818776
Move smart projection factor
2014-05-31 15:33:19 -04:00
41de41deec
minor cleanup
2014-05-30 19:37:03 -04:00
a7a209ce0c
Minor fixes and documentation cleanup
2014-05-30 13:31:35 -04:00
625b7b0743
Monocular Smart Projection factor example based on stereo data
2014-05-30 11:58:07 -04:00
386ed2e510
Merge branch 'develop'
...
Conflicts:
gtsam_unstable/slam/SmartFactorBase.h
2014-05-28 18:11:39 -04:00
2699605943
Fix return type mismatch
2014-05-28 11:31:17 -04:00
8806c15b36
fixed possible connectivity issue when smart factors are degenerate
2014-05-23 17:49:42 -04:00
c2705902cb
added dynamic outlier rejection (with unit tests) for smart pose factors
2014-05-22 22:32:12 -04:00
e0500f7b18
added and renamed unit tests
2014-05-22 21:28:00 -04:00
4f91f94d1e
included possibility to linearize to Jacobian for smart Pose factors
2014-05-22 21:27:46 -04:00
b83a996731
Fixed SmartProjectionPoseFactor matlab wrapping
2014-05-13 17:04:16 -04:00
1062e41de3
shut up some warnings on Windows
2014-05-06 22:57:26 -04:00
842554a230
Unit test fixes for quaternion mode and also rotation matrix + full expmap mode.
2014-05-06 20:03:45 -04:00
0450c58d66
silence warning
2014-05-06 12:06:07 -04:00
9373711a85
Finish TSAMFactors
2014-05-06 01:34:56 -04:00
2f180d1d02
Remove using namespace std from header files
2014-05-05 16:35:22 -04:00
0a2385711b
MATLAB wrapping of TSAMFactors
2014-05-05 10:14:56 -04:00
05c1e572b6
Moved TSAMFactors.h from tsam to gtsam
2014-05-05 10:14:36 -04:00
5c420f1aec
added references
2014-05-04 18:16:40 -04:00
92c9e9c0aa
Fixed "unused" warnings
2014-05-03 12:23:49 -04:00
1ed07ca4ed
Moved to unstable
2014-05-03 12:23:20 -04:00
5402f9fa20
Removed smartProjectionPoseFactor from matlab wrapper; it was causing matlab crashes
2014-05-02 11:12:10 -04:00
8dbd7c175c
added SmartProjectionFactor to matlab wrapper
2014-05-01 15:55:37 -04:00
ce13807d10
added script to run and save tests in a simplified way
2014-05-01 12:56:24 -04:00
32e1a8f994
tried some changes for wrapping
2014-05-01 10:48:54 -04:00
2cb448fa24
adding SmartProjectionPoseFactor to wrapper
2014-04-30 16:17:32 -04:00
185c572b5a
removed wrong base class
2014-04-24 11:28:41 -04:00
8c657f8857
slight change in implementation of hessianBlockDiagonal
2014-04-23 19:00:15 -04:00
d9e93f316a
error computation now does not include noise model
2014-04-23 18:43:14 -04:00
2b52bad569
optimized point damping
2014-04-23 15:15:48 -04:00
e56666e85c
fixed print function
2014-04-23 14:53:01 -04:00
37b750411f
added gradientAtZero with raw memory access
2014-04-22 18:38:12 -04:00
dd780e356c
fixed computation of linearized error in implicit schur factors
2014-04-21 18:59:33 -04:00
e232b6085b
wrapping smart factors
2014-04-15 11:06:38 -04:00
bd218feada
Merge branch 'develop'
2014-04-15 10:57:20 -04:00
f63db8859b
addind wrapper for smart factors
2014-04-15 10:56:17 -04:00
926b4c6443
removed temporary variables - minor
2014-04-14 11:41:55 -04:00
6ef11bb297
removed debug statements
2014-04-09 21:14:38 -04:00
4bdefc3f70
removed debug bloks
2014-04-09 21:04:52 -04:00
dc7b5d58c0
implemented efficient update of Hessian matrix via Schur complement
2014-04-09 21:01:03 -04:00
4123053c81
progress on grouping - still seg faults
2014-04-08 18:55:42 -04:00
2908197f1a
Merge branch 'develop'
2014-04-06 14:35:32 -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
02fc860d9e
add smartfactor base classes, smartProjectionPoseFactor, and its unit test to gtsam_unstable
2014-03-27 13:14:13 -04:00
178b7f29da
clang warnings
2014-03-17 21:56:50 -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
68297dedb5
Removed unused variable
2014-03-16 16:36:07 -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
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
f5ce1d865e
A custom linearize for speed
2014-03-04 02:50:28 -05:00
b1013163e7
Switched to TriangulationFactors: huge improvement
2014-03-02 15:51:02 -05:00
5c466a7914
Moved to header file
2014-03-02 15:36:29 -05:00
a7f98a8316
Drastically simplified by passing cameras
2014-03-02 15:33:56 -05:00
f3ee25f1a8
TriangulationFactor, first version
2014-03-02 14:56:50 -05:00
dfee108e53
Some more refactoring
2014-03-02 13:49:42 -05:00
bf779af3d1
added twoPoses test
2014-03-02 13:44:18 -05:00
7b93cd207c
fixed header bloat
2014-03-02 13:34:43 -05:00
68401cf216
removed Cheirality testing in that GTSAM mode
2014-03-02 13:16:36 -05:00
ba6f857663
Removed some copy/paste
2014-03-02 13:02:21 -05:00
bf1f5037d0
Fixed warning
2014-03-01 20:41:05 -05:00
e9eb706786
Fix conflict
2014-02-24 11:37:43 -05:00
ed8b1eeaa1
Converted another loop to use insert like was fixed in the previous commit (wasn't a problem this time but am matching the style to the other file)
2014-02-24 09:29:30 -05:00
3e0904e250
remove unneeded/wasteful loop
2014-02-23 23:12:25 -05:00
1770f44ad9
Fixed a number of clang warnings
2014-02-23 18:53:48 -05:00
4c5cb4d8ec
Removed some unused code that was causing warnings
2014-02-23 18:51:48 -05:00
485b3b475a
Fixed a typo that disabled the testTriangulation tests.
2014-02-23 18:50:58 -05:00
efcf58161c
Spelling correction for adjacency, correct unused var warnings and unsigned vs signed int comparision warnings
2014-02-23 17:55:18 -05:00
adeac28527
Graph reduction unit test pass
2014-02-23 17:47:39 -05:00
46c52bc957
Issues with key index versus graph index is source of the problem re heap trashing. Need to verify GenericGraph but seems that properly odering the keys fixes the issues.
2014-02-23 17:42:21 -05:00
2c5c38c855
Unit tests pass using GenericGraph 2D, use of GenericGraph 3D causes heap corruption during prepare graph for some unknown reason
2014-02-23 16:37:09 -05:00
0aa32a748f
Updating to new metis interface. Need to address prepareMetisGraph since its causing core dump on second edgeseparator test
2014-02-21 18:20:43 -05:00
05e42ba452
Test Separator unit test passes. Partially
2014-02-21 11:21:08 -05:00
1ff9309533
Parition builds partially. Computing edge separate is no longer a separate function in METIS. testFindSep fails
2014-02-20 14:36:14 -05:00
f48b8e593c
Move tests to folder
2014-02-20 12:27:58 -05:00
4c86ea1ab5
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-20 10:10:04 -05:00
89e6d2f1e8
Removed some commented-out includes
2014-02-18 13:44:25 -05:00
ed4e1a8e57
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-17 12:41:09 -05:00
3293df1529
Removed duplicate link libraries during wrap
2014-02-17 00:43:14 -05:00
f283150eb4
Using macro for creating examples to remove cmake code copy/paste
2014-02-13 13:24:14 -05:00
661a157553
Working on standardizing/simplifying building unit tests and examples. Much simpler cmake function to add a glob of tests, doing away with convenience libraries, and removing other options that we never change from their defaults.
2014-02-13 01:34:31 -05:00
2e1e4951e1
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-09 13:45:41 -05:00
9d2c5888b8
Made cmake slightly nicer when using Xcode - removed a couple unnecessary prints, and removed .run targets when using Xcode since they're not needed and clog up the project view.
2014-02-08 11:14:43 -05:00
5ef681bc4a
Changed Vec() to Vector().
2014-02-05 13:59:21 -05:00
381899640e
Moved TransformBtwRobotsUnaryFactor to gtsam_unstable from svn version.
2014-02-04 14:13:25 -05:00
4b8c17ec77
Changed target name to 'gtsam' instead of 'gtsam-shared' and 'gtsam-static'. Modified CMake options to only allow building either static or shared, but not both. Enabled GTSAM_BUILD_TYPE_POSTFIXES by default on all platforms.
2014-01-30 14:41:25 -05:00
1d9aa38a62
Move partition over
2014-01-28 19:38:28 -05:00
fe55148dd7
deleted redundant files for imu factors
2014-01-27 17:38:01 -05:00
38846aaac6
remove FixVector(size_t m, ...)
2014-01-23 19:08:20 -05:00
376892f67f
fix FixVector(size_t m, ...), which also has dangerous behavior
2014-01-23 19:02:24 -05:00
96296333ae
remove all LieVector(size_t m, ...), which doesn't check parameter's type and it's also dangerous
2014-01-23 18:35:29 -05:00
c4eec5d549
fix Vector_() remained
2014-01-23 02:16:04 -05:00
8641816b21
fix Vector_() in gtsam_unstable and tests
2014-01-23 02:03:12 -05:00
dd447f2c6c
Moved all common methods in new file Rot3.cpp
...
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20416 898a188c-9671-0410-8e00-e3fd810bbb7f
2013-12-21 18:30:46 -05:00
848f992b98
fixed two tests that did not pass with Quaternions
...
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20414 898a188c-9671-0410-8e00-e3fd810bbb7f
2013-12-21 18:30:46 -05:00
d7dc390130
Particle factor scaffold
2013-12-19 17:14:40 +00:00
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
f664df729c
Updated to new wrap functions in gtsam cmake
2013-12-16 21:32:55 +00:00
abbbd02979
reintroduced triangulation.cpp with non-templated functions
2013-12-09 21:28:43 +00:00
5f87cbea7f
New SymmetricBlockMatrix interface - should be safer as all exposed functions use symmetric matrix expressions and the internal uninitialized values below the diagonal are never exposed.
2013-11-26 23:49:53 +00:00
4e2b658588
some excel file I forgot to check in
2013-11-23 19:04:43 +00:00
a27f97dec4
Fix in ConcurrentFilteringAndSmoothing - one elimination call was using the default elimination function instead of the one from the parameters.
2013-11-21 15:42:17 +00:00
0608e9a05b
Added support for MKL in Eigen and fixed several errors and warnings within Eigen when using MKL
2013-11-18 19:23:23 +00:00
2896a45d1f
Fix Matrix_(...) to Mat() <<...
2013-11-13 06:08:59 +00:00
0b3aac7048
Fix Matrix_(...) to Mat() <<... in gtsam_unstable
2013-11-13 05:51:03 +00:00
ec78d54f37
Removed old Index typedef and IndexFormatter
2013-11-08 16:35:28 +00:00
199505db5f
Changed API for triangulation to use vectors of pinhole cameras, or a vector of poses and a single calibration
2013-11-06 06:31:46 +00:00
5defdbe73f
Fixed compile problems on windows
2013-11-05 16:06:10 +00:00
a28e04988d
Some documentation, and extra optimize test. In debug mode the unit test fails because it does not throw the right exception, but everything else seems fine.
2013-11-01 01:04:34 +00:00
efeb7b4f8a
fixed warning on cheirality exception
2013-10-31 01:32:48 +00:00
5a71336ddd
Fixed a compile error with Clang 5.0 on OS Mavericks
2013-10-30 12:15:43 +00:00
73b82a00eb
added possibility to disable Cheirality in triangulation.h using cmake flag
2013-10-29 23:38:31 +00:00
3c33e44c46
Fixed compile errors on windows
2013-10-29 04:24:14 +00:00
788f69c00e
Add header for size_t since gcc requires
2013-10-28 18:07:19 +00:00
b88e15e694
Faster variant of DSFMap, if not as elegant.
2013-10-27 03:45:12 +00:00
d1a62b0cc1
Killed other variants
2013-10-27 02:50:47 +00:00
thduynguyen
Andrew Melim
dellaert
cbeall3
Paul Drews
Natesh Srinivasan
Christian Forster
HannesSommer
Paul Furgale
Jing Dong
Richard Roberts
Zhaoyang Lv
Abhijit Kundu
Mike Bosse
Renaud Dube
Sungtae An
gawela
Luca
Sungtae An
Vadim Indelman
Stephen Camp
Vadim Indelman
djensen3
vindelman3
Frank Dellaert
Luca Carlone
Jing Dong