482144821b
[Fix] Rot3.ypr -> Rot3.Ypr
...
[REFACTOR] Fixed including with "" instead of <>
2016-02-18 21:51:43 -05:00
5fab190194
Merged develop into feature/LPSolver
2016-02-18 18:49:51 -05:00
3def6cab74
[FEATURE] QPSolver without initial Values.
...
[REFACTOR] Reformat code with eclipse code formatter.
2016-02-15 14:44:00 -05:00
ace23973a8
[FEATURE] LPSolver without initial Values.
...
[REFACTOR] Reformat code with eclipse code formatter.
2016-02-15 13:53:22 -05:00
1c920967d9
No more use of vector() or default constructor
2016-02-12 00:06:07 -08:00
56dbf487ee
Fixed more default constructor calls
2016-02-11 23:31:17 -08:00
8227f1a5fb
[REFACTOR] ActiveSetSolver to match commenting and format conventions.
...
[BUGIFX] Fixed Errors in Unit Tests By commenting.
[BUGFIX] FIxed Active Set Solver Problem with template in cpp file
2016-02-12 00:57:37 -05:00
10caa759d6
[COMMENT] Added missing class-level comment.
2016-02-11 23:33:33 -05:00
89fc822259
[REFACTOR] ActiveSetSolver to match commenting and format conventions.
2016-02-11 23:28:08 -05:00
2060b09a2b
Avoid calling default constructors and/or vector
2016-02-11 19:03:11 -08:00
94ccf98985
Avoid default constructor in tests
2016-02-11 19:01:54 -08:00
0a7fd27f28
Working on getting a simple typedef to compile - as well as dealing with Point3() now creating uninitialized memory.
2016-02-10 17:48:52 -08:00
f42c4f6a92
[FEATURE] SQP Removed
...
[FEATURE] Test SQP for Infeasible
[FEATURE] Test QP for Infeasible
[FEATURE] LP Initialize Without Initial Values
[FEATURE] QP Initialize Without Initial Values
** TESTS FAIL **
2016-02-09 10:45:55 -05:00
6eeeb3fef1
Fixed forgotten compose
2016-02-08 18:58:43 -08:00
a19aa793d7
Cleaned up a number of Point3/Rot3 related uses
2016-02-08 17:31:32 -08:00
23d4c0fd9f
Deprecated several Point3 methods
2016-02-08 13:27:38 -08:00
9e4b4b3f72
Merged in feature/testTransform_Sim3 (pull request #218 )
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Fixed Sim3 Action derivative
2016-02-08 08:11:51 -08:00
5f0b493666
Cleanup
2016-02-08 00:12:19 -08:00
e39eed661e
Formatting
2016-02-07 22:29:51 -08:00
fb3eda5eee
Fixed derivative of group action, as explained in LieGroups.pdf
2016-02-07 22:26:10 -08:00
c5b2c63c9d
fix typo in test for Sim3 transform_from
2016-02-07 23:51:26 -05:00
0ceeb4bd47
A set of geometry changes from the FixedValues branch, unrelated to that PR
2016-02-07 20:11:01 -08:00
f64d17f4f0
Cleaned up and tested exmpap
2016-02-07 15:02:07 -08:00
d7ed19dc21
Fixed equality, transform_from, AdjointMap, and added wedge (for testing AdjointMap)
2016-02-07 14:05:59 -08:00
95f4d14d5e
Fixed static Rot3 methods
2016-02-07 13:00:49 -08:00
faffcb193e
Merge remote-tracking branch 'origin/develop' into feature/OptimizeSimilarity
...
Conflicts:
gtsam_unstable/geometry/tests/testSimilarity3.cpp
2016-02-07 13:00:29 -08:00
8926a1da91
[EXPERIMENTAL] Initial SQP Solver. DO NOT BUILD.
2016-02-02 11:03:53 -05:00
d4b4b2b31d
[COMMENTS] Added Some Missing Comments
2016-02-01 21:10:16 -05:00
1720adbbd7
Merge remote-tracking branch 'origin/develop' into feature/LPSolver
2016-01-29 09:12:50 -08:00
26a7647629
Some refactoring, small edits, TODOs for Ivan
2016-01-29 09:07:14 -08:00
4d93a33f61
Static methods should be uppercase.
2016-01-26 23:09:58 -08:00
b1949966e9
[REFACTOR] Extract LPSolver.cpp from LPSolver.h
2016-01-26 09:34:05 -05:00
796e2d813c
[REFACTOR] Remove Debug statements from Iteration.
2016-01-26 07:56:52 -05:00
84662bc5d9
[REFACTOR] Extracted common components from QPSolver and LPSolver into ActiveSetSolver.
2016-01-25 19:24:37 -05:00
2978664cbd
Merge branch 'develop' into feature/LPSolver
...
Conflicts:
gtsam_unstable/linear/QPSolver.h
2016-01-25 15:59:52 -05:00
ec1d0201e5
[REFACTOR] Changed Vector(..).finished for VectorN(...)
2016-01-24 20:18:10 -05:00
b2825ca4d0
[REFACTOR] Remove unnecessary includes from testLPSolver.
2016-01-24 20:08:14 -05:00
88dc9ca73d
[REFACTOR] Extracted LPInitSolver.h from testLPSolver.cpp
...
[REFACTOR] Extracted LPSolver.h from testLPSolver.cpp
[REFACTOR] Extracted LPState.h from testLPSolver.cpp
2016-01-24 19:58:42 -05:00
580d1671f4
[REFACTOR] Extracted LPState.h from testLPSolver.cpp
2016-01-24 19:44:43 -05:00
2fa3a56f03
[REFACTOR] Extract LP.h from LPSolver.cpp
...
[REFACTOR] Extract InfeasibleInitialValus.h from LPSolver.cpp
[REFACTOR] Extract InfeasibleOrUnboundedProblem.h from LPSolver.cpp
2016-01-24 19:40:55 -05:00
bc3398a6a2
[BUGFIX] Fixed Failing Unit Test
2016-01-24 14:09:16 -05:00
35b6986d32
Merged in feature/c++11 (pull request #193 )
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Make C++ 11 the default
2015-10-26 17:04:08 -07:00
04bcf26aa6
Explicitly cast optional to bool
2015-10-20 14:44:00 -04:00
901fb56993
Fixed warnings
2015-10-19 15:01:48 -07:00
e2ce27f712
move static member definition to cpp file
2015-09-22 08:17:19 -04:00
aa2ffcd118
Merge branch 'develop' into feature/cleanup_ImuFactor
2015-09-17 17:42:38 -04:00
92e210b893
Fix examples and Matlab wrapper
2015-08-26 13:25:12 -04:00
29ad9478f7
Move noise model initialization from add function into constructor. Can only have one noise model per factor anyway
2015-08-26 13:02:39 -04:00
0503df31fa
Relax tolerance to 1e-6 for MKL/quaternion test, and fix up documentation a bit.
2015-08-25 12:14:52 -04:00
6a5147b5b5
Merged in fix/SmartStereo (pull request #181 )
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Fix/smartstereo
2015-08-25 09:51:59 -04:00
8b4228fa56
Make smart parameters public. Now easier to set, and it's sufficient for this to be const within the smart factor itself!
2015-08-19 10:58:35 -04:00
c8df985e2f
Relax test tolerance a bit for quaternion mode
2015-08-19 07:30:14 -04:00
1727b60728
Fixed and cleaned up unit test
2015-08-19 00:11:35 -04:00
123c55f0d7
respect triangulation.enableEPI flag in SmartStereo factor
2015-07-29 14:05:48 -04:00
07bd7fa2bd
fix examples and wrapper
2015-07-28 15:14:39 -04:00
fd1e41a9e6
remove calibration template from SmartStereoProjectionPoseFactor
2015-07-28 15:12:02 -04:00
748877ff7e
remove calibration template from SmartStereoProjectionFactor
2015-07-28 14:56:45 -04:00
db64b48fda
tests pass
2015-07-28 14:48:53 -04:00
da9078cf3b
add nonlinear triangulation back. Some unit tests fail again
2015-07-27 23:27:20 -04:00
110a046fb6
Fixed compile issue and tightened tolerances
2015-07-24 16:05:15 +02:00
0bb73bae9e
Comments
2015-07-23 16:59:26 +02:00
1a47a334de
Deal with changes in Rot3
2015-07-21 11:23:42 -07:00
7ae31bd8e7
delete some unused stuff
2015-07-20 11:43:57 -04:00
b5a978c534
improve dynamic outlier rejection test
2015-07-19 21:01:14 -04:00
fcc9ac2669
remove extra cout
2015-07-19 20:39:34 -04:00
36c652ac40
remove monocular triangulation hack and make tests pass again
2015-07-19 20:37:16 -04:00
2c765c735a
Velocity3 default constructor does not zero
2015-07-17 22:09:49 -07:00
233cabb3fb
Made Velocity a Vector3
2015-07-17 17:36:29 -07:00
d1271fd9d5
Fixed product retract/localCoordinates and corresponding tests
2015-07-16 23:48:56 -07:00
459226800d
Replaced failing test with two new, working tests
2015-07-16 22:38:30 -07:00
b8f5141743
HasRange
2015-07-16 22:38:17 -07:00
3f0e695cc9
some tests pass again
2015-07-16 11:26:07 -04:00
0c3bb85547
Added test of localCoordinates
2015-07-15 23:22:31 -07:00
93f7eafaa8
re-enable triangulation hack
2015-07-15 23:16:45 -04:00
bd4dd84933
huge refactor. Compiles again, but triangulation still broken, SmartStereo test fails
2015-07-15 16:53:04 -04:00
fb4dd81c4d
refactoring: step 1
2015-07-15 12:58:03 -04:00
30435da070
Moved BearingRangeFactor to SAM
2015-07-12 18:57:26 -07:00
03db69117a
Define and partially specify Range and Bearing functors
2015-07-12 15:51:49 -07:00
3bad6fea67
moved RangeFactor to SAM
2015-07-12 12:12:59 -07:00
5052eb2c64
cleaning up
2015-07-11 18:31:36 -07:00
7ff3e11efd
removed redundancy in naming
2015-07-09 11:29:32 -07:00
3b16ad2967
Moved deprecated headers into subdirectory
2015-07-09 11:14:39 -07:00
377b90941b
switch to Rodrigues everywhere
2015-07-05 16:11:04 -07:00
464a82cc51
Merge remote-tracking branch 'origin/develop' into feature/betterOrdering
...
Conflicts:
.cproject
gtsam/inference/Ordering.h
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
2015-06-28 15:41:58 -07:00
35c23da427
change: add const traits and renaming some test parameters
2015-06-26 18:24:30 -04:00
12f9b413ff
feature: add concept test for similarity3
2015-06-26 16:01:26 -04:00
400a17d9ab
change: a little clean up
2015-06-26 15:44:08 -04:00
d415cffd4b
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
2015-06-23 22:41:33 -07:00
801d1fb700
Merged in feature/performance (pull request #161 )
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Improving performance
2015-06-23 22:27:10 -07:00
0e022b3b33
Values::keys now returns KeyVector instead of list. Corresponding fixes in Matlab wrapper.
2015-06-24 00:35:32 -04:00
b0f04503c9
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
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# Conflicts:
# gtsam/linear/tests/testRegularHessianFactor.cpp
# gtsam/slam/SmartFactorBase.h
2015-06-23 10:03:42 -04:00
f9ddbb1345
Eliminated linked list
2015-06-21 01:45:56 -07:00
128bac616c
Globally replaced FastSet<Key> with KeySet.
2015-06-20 18:38:25 -07:00
f8205bfe02
Merge branch 'develop' into feature/SmartFactors3
...
Conflicts:
gtsam/geometry/CalibratedCamera.h
gtsam/geometry/tests/testCalibratedCamera.cpp
gtsam/geometry/triangulation.h
gtsam/nonlinear/ExpressionFactor.h
gtsam/slam/SmartProjectionFactor.h
gtsam_unstable/slam/SmartStereoProjectionFactor.h
tests/testExpressionFactor.cpp
2015-06-19 16:55:30 -04:00
78c8160dc5
all tests pass and it compiles (yuppii!), but if I make check I get errors with isManifold and something that seems unrelated to smart factors. going to merge with develop
2015-06-19 12:06:45 -04:00
99fce3f5af
Added a few tests
2015-06-11 19:55:10 -04:00
76ffc45ee7
Merged 'develop'.
...
Conflicts:
gtsam_unstable/geometry/Similarity3.cpp
gtsam_unstable/geometry/Similarity3.h
2015-06-11 19:54:54 -04:00
f6ac546cc3
Added comparison to brute force matrix exponential
2015-06-11 13:56:35 -04:00
5ceb7d9ddc
Fully implemented logmap/expmap, which are used for retract/localCoordinates
2015-06-10 16:36:56 -04:00
0d5f0510ab
Expmap and Logmap, still incorrect around identity
2015-06-10 11:01:34 -04:00
d385984f26
Working compose/between/inverse derivatives
2015-05-26 01:08:27 -07:00
d060d4621e
PoseRTV is now implemented using ProductLieGroup
2015-05-25 23:50:00 -07:00
9d522c72f3
internal::LieGroup needed if you also want Testable traits
2015-05-25 22:04:04 -07:00
b23a51db6d
PoseRTV as ProductManifold works
2015-05-25 17:13:08 -07:00
f8ab4ef144
Change SimpleCamera from typedef back to regular class to make wrapping+serialiation work. Had to change some templates because vector<PinholeCamera> can't be upcast to vector<SimpleCamera>
2015-05-18 14:33:27 -04:00
58de1ac296
re-enable all tests. Disable printing. Fixing bad names due to unintentional global replace
2015-05-15 08:57:43 -04:00
827caf1793
compute a feasible initial value for LPSolver: simple test passed.
2015-05-15 08:47:57 -04:00
f30e2501be
compute error for constrained linear factor graphs
2015-05-15 08:45:47 -04:00
ee8316e291
fix comments
2015-05-15 08:44:58 -04:00
79d20b6c44
GTSAM-style formatting
2015-05-13 23:44:46 -07:00
13a4da21b2
misc bugfixes and cleanup from skydio
2015-05-13 22:26:24 -07:00
e456923a74
Merged in feature/SimplerExpressions (pull request #135 )
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Expressions without MPL
2015-05-13 00:36:49 -07:00
057aef90d9
Fixed some more warnings on Ubuntu
2015-05-12 15:05:34 -07:00
4ba329c23b
Fixed many warnings on Ubuntu
2015-05-12 13:46:24 -07:00
4f846ff75f
No more boost::mpl needed for Expressions
2015-05-12 01:33:33 -07:00
81b3860991
Moved all internal data structures to internal namespace
2015-05-11 21:19:40 -07:00
13dcc977f2
Moved Point2Vector wrapper from gtsam_unstable.h to gtsam.h
2015-05-03 17:31:08 -07:00
b52ced7a09
Merged in fix/serialization_warnings (pull request #128 )
...
Fix some unused variable warnings in the serialization code.
2015-04-20 15:00:45 -04:00
a4fac2ab62
added cout style print statements for similarity
2015-04-12 15:38:40 -04:00
ea6f5e3fb9
Use TriangulationParameters
2015-04-08 21:36:11 -04:00
762a7b7435
Remove selective relinearization and state
2015-04-08 17:52:25 -04:00
51482ea358
Remove template parameter D, get from Base::Dim instead
2015-04-08 14:21:40 -04:00
40659cab38
first LPSolver test passed!!
2015-03-25 08:19:43 -04:00
956b53dc3b
Fixed sign in stereo version
2015-03-12 09:51:44 -07:00
2bdeac30f0
Fixed compile error w PointCov
2015-03-12 07:56:47 -07:00
d8564f25e0
fix exception text
2015-03-12 09:37:26 -04:00
a4d1874af4
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
2015-03-09 17:51:16 -07:00
faadf5b06f
Fully compiles now
2015-03-06 08:48:35 -08:00
472821f16d
Merge remote-tracking branch 'upstream/develop' into fix/serialization_warnings
2015-03-06 17:10:59 +01:00
ebf5746987
Fix some serialization warnings.
2015-03-06 16:12:09 +01:00
3be6b16995
relax threshold from 1e-7 to 1e-6 to make test pass.
2015-03-06 00:32:43 -05:00
758aab6e80
Cleaned up test
2015-03-05 10:41:49 -08:00
b40c0f7f15
Fixed sign
2015-03-05 10:36:03 -08:00
dc3d5f77fe
Extra stereo tests
2015-03-05 10:35:54 -08:00
e6a90db2d5
Migrated to non-keyed Fblocks
2015-03-04 23:11:01 -08:00
f28b083c14
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
...
Conflicts:
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
2015-03-04 16:02:25 -08:00
74605df641
Re-ordered methods in .h and .cpp to match them
2015-03-03 07:42:31 -08:00
d8822e5b57
H1 works for rot/translation, but not scale :-(
2015-03-02 21:58:54 -08:00
728991e31f
Fixed H2
2015-03-02 21:08:57 -08:00
05198c091e
comment
2015-03-02 21:08:41 -08:00
e0e5590856
matrix() returns 4*4 matrix \in GL(4)
2015-03-02 21:08:23 -08:00
6bfda9fcba
Added prototype derivatives for transform_from
2015-03-02 20:34:56 -08:00
fcd00450d3
Formatting, use Point3/Rot3, resolved link error of operator*(Point3)
2015-03-02 20:09:44 -08:00
1e58c0b0a2
Comments and standard BORG formatting
2015-03-02 19:34:33 -08:00
bdd00d8b49
move code to cpp and some small clean up
2015-03-02 08:27:24 -05:00
b2dcf35e77
Merged in feature/Similarity (pull request #117 )
...
Sim3 Support
2015-02-26 23:33:37 +01:00
6faa881de6
Make the code prettier.
2015-02-26 15:10:59 -05:00
a375e7b5be
RADICAL2: The SmartProjectionPoseFactor (soon to be renamed SmartPinholePoseFactor, if it survives at all) now no longer stores shared calibrations. Values expect to contain PinholePoses not Pose3s now. The current state of affairs was simply a bug: one pose could be optimized for several different calibrations. It relied on the user to make sure all measurements for a specific pose to optimize were all given the same shared calibration, which was then stored *millions of times* in the pose factors. Instead, there is now *one* shared calibration per PinholePose unknown.
2015-02-26 13:55:16 +01:00
a132d959f5
RADICAL: Got rid of sensor_pose. In the new PinholePose philosophy, this is entirely the responsibility of the CAMERA. Just like PinholePose, we can have a camera class that has a shared extra transform: it is part of the calibration. PinholePose itself is not able to do this, as the calibration is assumed 2D only, but it's easy to create a class and have the correct derivatives in place.
2015-02-26 12:06:43 +01:00
0bf95ae7f6
Removed obsolete code, including slow Schur-complement versions
2015-02-26 11:44:51 +01:00
fd71974ff3
Got mostly rid of computeEP: just a call to cameras.project2
2015-02-25 20:52:16 +01:00
850470ef06
rename of computeJacobians overloads to better reflect functionality
2015-02-25 19:30:17 +01:00
abfcfa1a17
Merged 'develop'.
2015-02-25 11:00:46 -05:00
9991ae04f3
Fixed unit tests
2015-02-25 10:59:25 -05:00
b9dbde14f2
fix file heading comments for doxygen
2015-02-25 09:09:33 -05:00
bd16c52e7c
support params and verbosity debug info for LinearConstraintSQP
2015-02-25 08:07:40 -05:00
d80caeb44b
small comment fix
2015-02-24 23:41:39 -05:00
d9773da125
rename classes
2015-02-24 23:40:53 -05:00
d2f919e632
Linear[In]EqualityFactorGraph --> [In]EqualityFactorGraph
2015-02-24 22:25:26 -05:00
ce50219f9d
fix comments for doxygen
2015-02-24 22:15:41 -05:00
54121ad26b
add test for InfeasibleIntialValues exception
2015-02-24 22:10:07 -05:00
0c025f798c
fix comments
2015-02-24 22:09:31 -05:00
8a88f101db
Fix deprecation warnings
2015-02-24 21:58:17 -05:00
95bb10d44a
make QPSolver throws an exception if the provided initial values are infeasible
2015-02-24 21:49:27 -05:00
d7b5156dcc
rename to reprojectionErrorAfterTriangulation
2015-02-25 01:14:36 +01:00
eb28d0ffa8
Restored reprojectionErrors -> reprojectionError
2015-02-24 14:09:35 +01:00
d6f54475c3
BIG change: SmartFactorBase and SmartProjectionFactor now templated on CAMERA
2015-02-23 12:43:43 +01:00
64bb6b77d7
Merged in feature/SmartCT (pull request #107 )
...
Refactoring of Smart Factors
2015-02-22 06:14:19 +01:00
1d81572894
Capitalize static methods in ordering.h
...
This commit involves the API change. Related files in gtsam have been changed. All the tests examples run without issue.
2015-02-21 13:16:03 -05:00
b53c26c934
Merge remote-tracking branch 'origin/develop' into feature/Similarity
...
Conflicts:
.cproject
2015-02-20 00:36:52 -05:00
ba4698bf51
add comments, fix format, make test compiled
2015-02-19 08:51:54 -05:00
f9ccd23d4a
Refactored into class and unit test
2015-02-19 01:21:20 -05:00
d8e184fadd
fix traits::dimension
2015-02-18 09:13:15 -05:00
23dbaad23e
Added test to test iterative framework. DOES NOT WORK YET.
2015-02-18 07:48:40 -05:00
f1703db4aa
Added comments
2015-02-18 07:48:40 -05:00
37fe405872
Added warmStart flag.
2015-02-18 07:48:39 -05:00
6b2b96ca2a
updated with current constructor whch needs number of iterations
2015-02-18 07:47:55 -05:00
3142f0a9a7
disabled test
2015-02-18 07:47:55 -05:00
2476bbe8d7
can pass debug flag as parameter.
2015-02-18 07:47:55 -05:00
3e352f109e
Added warm start for initializing active set.
2015-02-18 07:47:54 -05:00
f4a4ce4325
added debug print statements
2015-02-18 07:47:54 -05:00
e74b737a66
box-constraints unit test passed with prior and between factors
2015-02-18 07:47:53 -05:00
3653e93338
fix bug in dual feasibility check. We want dual variables < 0.
2015-02-18 07:47:53 -05:00
121feb2281
disable printing
2015-02-18 07:47:53 -05:00
bcdeddbda1
Compute the least-square values of dual variables instead of forcing them to satisfy the stationarity condition exactly. This fixes an infinite-loop bug in QPSolver when a constraint was continuously added to and removed from the active set.
2015-02-18 07:47:53 -05:00
276959e39a
remove support for nonlinear constraints. Refactor SQPSimple to LCNLPSolver.
2015-02-18 07:47:53 -05:00
0fdd49ca4e
Removed LinearEqualityManifoldFactorGraph.
2015-02-18 07:47:52 -05:00
e0e5e72020
Fixed includes
2015-02-18 07:47:52 -05:00
79b69d4489
[unfinished] unit test with multiple betweenFactors with box constraint.
2015-02-18 07:47:52 -05:00
1dd23ced02
Simple unit test for NonlinearInequalityFactorGraph.
2015-02-18 07:47:52 -05:00
de7149af63
Added licensing information.
2015-02-18 07:47:52 -05:00
2523fa2fe5
removed comment
2015-02-18 07:47:51 -05:00
b6d85e83ae
Fixed includes.
2015-02-18 07:47:51 -05:00
c99a848148
Refactoring.
2015-02-18 07:47:51 -05:00
d435fa72df
removed all printing
2015-02-18 07:47:51 -05:00
cc0e5cd3ca
Working nonlinear inequality constraints with unit tests.
2015-02-18 07:47:51 -05:00
fd461a1c15
[unfinished] prototyping inequality SQP with Luca.
2015-02-18 07:47:50 -05:00
ecc87bdb2b
Added test with pose and a line equality constraint. Works but hessian is incorrect. So basically using nonlinearequality vs linearequality makes no difference.
2015-02-18 07:47:50 -05:00
29e6e67de7
added debug info, fixed unit test, added nonlinear constraint (circle) test. Doesn't work because of negative definite hessian obtained from multiplying the dual with the constraint hessian.
2015-02-18 07:47:50 -05:00
ccc243d37a
Obtain dim by using traits.
2015-02-18 07:47:50 -05:00
147d174a66
test files deprecated, might be removed later
2015-02-18 07:47:49 -05:00
6d76b5910c
added comments
2015-02-18 07:47:49 -05:00
2b1cc7bf22
Added Simple QP solver and test. Unit test doesn't work yet
2015-02-18 07:47:49 -05:00
3af06ef029
Added nonlinearconstraint and tests
2015-02-18 07:47:49 -05:00
7d2f69335d
Added constructor
2015-02-18 07:47:48 -05:00
b4c5237925
Added structure of test and class. Left with implementation.
2015-02-18 07:47:48 -05:00
42d8e1fcb2
Working Sim3 Transform
2015-02-13 09:06:08 -05:00
5afc3c4cea
again: overlooked Dim -> dimension because this factor has no unit test!
2015-01-28 16:48:12 -05:00
db73a0dd1d
Working, with stub log/expmap and identity
2015-01-28 14:55:13 -05:00
10b56a115c
Working Similarity3 transform with unit tests.
2015-01-26 13:38:32 -05:00
c6b3535dda
retract works, local coordiantes still broken
2015-01-25 01:28:16 -05:00
a87a3dd987
Rotation works, translation and scale incorrect
2015-01-24 22:42:48 -05:00
b1cea2bee7
overlooked Dim -> dimension because this factor has no unit test!
2015-01-23 14:29:25 -05:00
d28ef19b9a
Merge remote-tracking branch 'origin/develop' into feature/Similarity
...
Partial update of Similarity to BAD
Conflicts:
.gitignore
2015-01-23 08:10:21 -05:00
bade68fa33
Simple single prior optimization
2015-01-12 12:58:17 -05:00
a88b10eacc
Working similarity3 transform with unit tests
2015-01-07 09:57:48 -05:00
89460fe931
Unit tests still fail, but believed to be correct.
2015-01-02 09:02:43 -05:00
e119846280
Updated examples and test
2014-12-28 19:10:41 +01:00
c58f2c15dc
Moved to gtsam
2014-12-28 19:09:12 +01:00
3587ad4e2c
Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
...
Conflicts:
examples/SFMExampleExpressions.cpp
2014-12-28 18:53:09 +01:00
7c455efe50
Made Event into new-style manifold
2014-12-28 18:24:00 +01:00
2ee192e950
Fix header
2014-12-28 18:23:22 +01:00
f9c353d4a5
Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
...
Conflicts:
.cproject
gtsam/base/LieMatrix.h
gtsam/base/LieVector.h
gtsam/base/OptionalJacobian.h
gtsam/base/tests/testOptionalJacobian.cpp
gtsam/geometry/Cal3_S2Stereo.h
gtsam/geometry/CalibratedCamera.h
gtsam/geometry/PinholeCamera.h
gtsam/geometry/Point2.h
gtsam/geometry/Point3.h
gtsam/geometry/Pose2.cpp
gtsam/geometry/Pose2.h
gtsam/geometry/Pose3.cpp
gtsam/geometry/Pose3.h
gtsam/geometry/Rot2.cpp
gtsam/geometry/Rot2.h
gtsam/geometry/Rot3.cpp
gtsam/geometry/Rot3.h
gtsam/geometry/Rot3M.cpp
gtsam/geometry/Rot3Q.cpp
gtsam/geometry/Unit3.cpp
gtsam/geometry/tests/testRot3.cpp
gtsam/nonlinear/AdaptAutoDiff.h
gtsam/nonlinear/Expression-inl.h
gtsam/nonlinear/Expression.h
gtsam/nonlinear/tests/testExpression.cpp
gtsam/slam/RangeFactor.h
timing/timeAdaptAutoDiff.cpp
timing/timeCameraExpression.cpp
2014-12-28 17:45:41 +01:00
9b5136d35c
Moved examples
2014-12-28 17:15:14 +01:00
401ee70364
Fixed overload resoltion error in template matching by removing overloads in traits
2014-12-28 17:14:04 +01:00
c4457682bc
Fixed header file
2014-12-28 17:13:20 +01:00
a454327e7b
Moved include file
2014-12-28 16:44:32 +01:00
111b9511ac
Moved timing files
2014-12-28 16:40:40 +01:00
3ebcfc5ce0
make timing compiles
2014-12-28 16:37:54 +01:00
097f0fb80d
Fix paths
2014-12-28 14:51:19 +01:00
c8faa102e3
Moved EexpressionFactor related files to gtsam
2014-12-28 13:48:13 +01:00
e5017984a1
traits_x -> traits
2014-12-26 16:47:51 +01:00
aaf4588f20
Improved simple helicopter
2014-12-26 00:53:36 +01:00
902e7e57e5
Fixing helicopter
2014-12-26 00:21:33 +01:00
11858da42b
fix testSimpleHelicopter
2014-12-25 17:25:42 -05:00
afe20d83bd
Dealing with Pose3 mojo loss
2014-12-25 20:04:28 +01:00
47ff09f6c8
Pose3 lost its mojo! But there are errors in Expmap/Logmap derivatives around identity...
2014-12-25 19:43:32 +01:00
5c0db68152
Fixed compile error from develop
2014-12-25 18:16:47 +01:00
78386ad144
Merge ExmapeDerivative/LogmapDerivative changes from 'origin/develop' into feature/tighteningTraits
...
Conflicts:
gtsam/base/LieScalar.h
gtsam/geometry/Point2.h
gtsam/geometry/Point3.h
gtsam/geometry/Rot3.h
gtsam/geometry/Rot3M.cpp
gtsam/geometry/Rot3Q.cpp
gtsam/geometry/tests/testRot3.cpp
2014-12-24 13:55:15 +01:00
d9f5681dc2
Fixed warning
2014-12-24 11:34:53 +01:00
3d15868ece
Renamed internal::LieGroup -> internal::LieGroupTraits
2014-12-24 01:34:33 +01:00
ea3b4624d8
Testable concept prereqs check
2014-12-23 14:56:48 +01:00
52ec4f0784
fixed serialization tests
2014-12-23 12:35:49 +01:00
c6ae119414
Tightened what is needed for Lie, i.e., fewer versions of retract/localCoordinates
2014-12-22 23:42:52 +01:00
f5c9c24330
Corrected sillyness
2014-12-22 23:41:42 +01:00
355b938f3a
Point3 loses its mojo (superfluous Lie/Manifold stuff)
2014-12-22 17:22:45 +01:00
5473550eea
Using traits in many places (forced by loss of Point2 mojo)
2014-12-22 16:02:33 +01:00
4a708c855f
fixed testExpressionFactor.cpp
2014-12-22 11:33:52 +01:00
a6f612844f
fixed testTSAMFactors.cpp
2014-12-22 09:39:51 +01:00
06c3696176
Fixed more problems so everything compiles now after splitting up concepts into Group/Manifold/Lie/VectorSpace. Still 25 tests that fail.
2014-12-22 02:52:31 +01:00
Ivan Jimenez
dellaert
Frank
lvzhaoyang
cbeall3
Duy-Nguyen Ta
Luca
Paul Drews
Abe
nsrinivasan7
Thomas Schneider
thduynguyen
krunalchande
Mike Bosse