Alex Cunningham
|
395e4ae3f1
|
Fixed sign issue on nonlinear constraints, so that that it is not necessary to flip the sign on the delta configs before using exmap.
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2009-11-28 21:00:09 +00:00 |
|
Alex Cunningham
|
0ff7e3a5d9
|
Changed interface on constraint g(x) and grad_g(x) functions to take a list of keys, so that all of the variables in a factor can be used as necessary. Moved g(x) into base NonlinearConstraint class and some cleanup.
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2009-11-28 19:18:02 +00:00 |
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Alex Cunningham
|
107c6846fb
|
Added basic inequality constraint handling to NonlinearConstraint. Demo still in progress, but now constraints are explicitly handled as either equality or inequality constraints, with an active() function to determine if it is necessary to use the constraint.
Created testOrdering for new subtract() function to remove parts of an ordering.
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2009-11-28 18:35:36 +00:00 |
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Alex Cunningham
|
f3e825767b
|
NonlinearConstraints now handle inactive constraints (when the state is already in the feasible region) by returning empty factors on linearization.
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2009-11-27 18:42:01 +00:00 |
|
Alex Cunningham
|
cf6474c99b
|
Added a graph implementation for multi-robot control systems. Currently can only really constrain the ends of a trajectory.
Made a number of fixes and updates to the ControlConfig as well.
|
2009-11-27 17:59:03 +00:00 |
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Alex Cunningham
|
2a2e11d05d
|
Added the config and units for a robot control system example that keeps a position and velocity model of a robot's motion.
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2009-11-26 05:52:17 +00:00 |
|
Alex Cunningham
|
43e4c66407
|
Added more detail to VSLAM test that diverges.
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2009-11-24 16:03:57 +00:00 |
|
Alex Cunningham
|
d788e9833d
|
Added tests to ensure that configs will only update existing values when using exmap and not add new ones if there are more values in the delta config. VectorConfig and VSLAMConfig both do this properly now.
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2009-11-24 15:12:59 +00:00 |
|
Alex Cunningham
|
e3e79e3888
|
Added lagrange access function to the SQPOptimizer
Added a test testSQP to try changing the initial Lagrange multiplier values to find a way around the stability problem, but there is no effect.
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2009-11-24 14:44:46 +00:00 |
|
Alex Cunningham
|
140e79572f
|
Added a test to testSQP to check VSLAM solution stability when the initial config is away from the ground truth. The test without the nonlinear constraints has the same stability problem, and both the constrained and unconstrained versions are in place and disabled.
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2009-11-24 14:14:03 +00:00 |
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Alex Cunningham
|
fec280db8e
|
Added a nonlinear constraint version of the stereo SQP example, but the test when the initial configuration is incorrect is not stable and the points continue moving away indefinitely.
|
2009-11-24 06:39:27 +00:00 |
|
Alex Cunningham
|
31856ce598
|
SQPOptimizer can now do its own initialization of the Lagrange multipliers.
Cleaned up NonlinearConstraint
|
2009-11-23 22:10:52 +00:00 |
|
Alex Cunningham
|
a5515d9d57
|
SQPoptimizer can now perform optimization, and has a test using the linear map-warping example.
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2009-11-23 21:25:31 +00:00 |
Viorela Ila
|
ac315082aa
|
new example from RSS sqrtSAM in testBayesTree
|
2009-11-23 20:11:10 +00:00 |
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Alex Cunningham
|
0b333630e7
|
Added an SQPOptimizer class with accompanying test - currently doesn't do much
|
2009-11-23 19:57:35 +00:00 |
|
Viorela Ila
|
d15a7a073c
|
SymbolicFactor works in Matlab
|
2009-11-23 19:45:09 +00:00 |
|
Alex Cunningham
|
36877532ad
|
Added ground truth for VSLAM example in testSQP
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2009-11-23 16:45:53 +00:00 |
Frank Dellaert
|
f272e2f6fe
|
Added a second smoother test
|
2009-11-23 05:27:37 +00:00 |
|
Frank Dellaert
|
9bac438dbe
|
Play nice with BOOST_FOREACH: non-const begin/end. Also removed buggy clear().
|
2009-11-23 05:27:19 +00:00 |
Michael Kaess
|
10a8ac34ec
|
iSAM smoother test
|
2009-11-23 01:16:58 +00:00 |
|
Frank Dellaert
|
4951a25453
|
More efficient removeTop
|
2009-11-23 00:02:06 +00:00 |
|
Frank Dellaert
|
35af122e83
|
Added a new version of removeTop and simplified update
|
2009-11-22 23:50:01 +00:00 |
|
Michael Kaess
|
7d384488e3
|
BayesTree::update generalized and moved from testIncremental to BayesTree; testIncremental removed
|
2009-11-22 23:35:13 +00:00 |
|
Frank Dellaert
|
64a43b0492
|
removeTop now does not bomb when a clique does not exist: it just does nothing
|
2009-11-22 22:59:56 +00:00 |
|
Frank Dellaert
|
4e74edba72
|
Some simplification
|
2009-11-22 22:39:32 +00:00 |
|
Michael Kaess
|
ab117947d7
|
update now takes a factor graph, rather than an individual factor
|
2009-11-22 22:26:24 +00:00 |
|
Michael Kaess
|
a3de1df5a4
|
adding orphans assuming that the first separator key refers to the parent; GTSAM_PRINT define
|
2009-11-22 21:18:31 +00:00 |
|
Frank Dellaert
|
198f73a05f
|
Insert conditionals straight into the topless bayesTree
|
2009-11-22 18:40:55 +00:00 |
|
Frank Dellaert
|
32db0595f4
|
using removeTop now
|
2009-11-22 18:27:14 +00:00 |
|
Frank Dellaert
|
952798e751
|
fixed orphans bug
|
2009-11-22 18:22:17 +00:00 |
|
Frank Dellaert
|
9da2f16f4d
|
Removed copy/paste in unit tests
|
2009-11-22 18:12:29 +00:00 |
|
Frank Dellaert
|
d4aaa5d114
|
Added two more removePath tests and fixed bug in removeTop. But orphan list is still incorrect.
|
2009-11-22 18:06:28 +00:00 |
|
Michael Kaess
|
45292f7bd6
|
Cliques implemented; unit test on orphans for removePath; bug fix in removePath/orphans
|
2009-11-22 17:40:24 +00:00 |
|
Frank Dellaert
|
53754ccbb8
|
removeTop with one factor implemented and one test works (orphans not yet checked)
|
2009-11-22 17:34:59 +00:00 |
|
Frank Dellaert
|
6f11c0803b
|
Cliques class
|
2009-11-22 16:46:29 +00:00 |
|
Frank Dellaert
|
7ce62f1626
|
Some template magic and boost:tie cleared up the compile issues in removePath
|
2009-11-22 16:04:51 +00:00 |
|
Michael Kaess
|
4449cfd30c
|
remove_path now also returns list of orphaned subtree roots; compile problem...
|
2009-11-21 23:41:43 +00:00 |
|
Frank Dellaert
|
82aae3c161
|
Some re-factoring (using BOOST_FOREACH to loop over string list), root is now NULL after removing root clique
|
2009-11-21 21:48:10 +00:00 |
|
Alex Cunningham
|
1fd0404ec9
|
Cleanup in testSQP, also demoed the unary constraint, as well.
|
2009-11-21 19:05:24 +00:00 |
|
Frank Dellaert
|
00b5b25591
|
Awesome recursive version of removePath
|
2009-11-21 06:14:53 +00:00 |
|
Frank Dellaert
|
072846a70f
|
moved addClique and removeClique implementations to inl.h,
removePath takes clique argument now
|
2009-11-21 06:07:46 +00:00 |
|
Frank Dellaert
|
286d826119
|
removed print
|
2009-11-21 06:06:30 +00:00 |
|
Frank Dellaert
|
b113194e58
|
While watching TV :-) added some constructors for more readable tests.
|
2009-11-21 04:59:50 +00:00 |
|
Frank Dellaert
|
a0a250750b
|
compare config
|
2009-11-21 04:22:59 +00:00 |
|
Michael Kaess
|
0286bc27eb
|
removePath mostly working
|
2009-11-21 03:38:13 +00:00 |
|
Alex Cunningham
|
08f5b074a0
|
Added verbosity selector for the SQP demo to remove printouts every time it runs
|
2009-11-20 14:29:11 +00:00 |
|
Frank Dellaert
|
715dc4474d
|
functional STL magic
|
2009-11-20 14:18:26 +00:00 |
|
Frank Dellaert
|
d234365d53
|
involves is const
|
2009-11-20 14:17:52 +00:00 |
|
Alex Cunningham
|
5f848f272b
|
SQP demo that moves maps into the correct reference frames is now working using the NonlinearConstraint machinery.
|
2009-11-20 14:05:21 +00:00 |
|
Frank Dellaert
|
e440767db9
|
Use [involves], and now updating orphan list
|
2009-11-20 05:23:47 +00:00 |
|
Frank Dellaert
|
55e85fd8a5
|
[involves] checks whether variable with that key is involved in any factor
|
2009-11-20 05:14:34 +00:00 |
|
Alex Cunningham
|
6aba2f1c1c
|
Changed initial SQP example to use exmap using the new scaling function for VectorConfig
|
2009-11-20 05:13:32 +00:00 |
|
Alex Cunningham
|
acfe742c29
|
Added a simple scaling function for VectorConfigs
|
2009-11-20 05:10:55 +00:00 |
|
Alex Cunningham
|
714edb57f0
|
Basic implementation of a binary nonlinear constraint, with working linearization of a binary constraint.
|
2009-11-20 03:50:48 +00:00 |
|
Alex Cunningham
|
ee4a066275
|
Implemented linearization and equality for unary NonlinearConstraints. Current tests use a scalar example. Split out implementation into a separate implementation file.
|
2009-11-20 03:04:49 +00:00 |
|
Michael Kaess
|
4ca1dbf325
|
generalized most of the update algorithm
|
2009-11-19 23:25:03 +00:00 |
|
Alex Cunningham
|
429f27550c
|
Added a NonlinearConstraint and testNonlinearConstraint. There is currently an abstract base class for constraints and a partially implemented unary constraint.
|
2009-11-19 16:50:18 +00:00 |
|
Frank Dellaert
|
cd913566f2
|
I now use push_back to add factors to the new factor graph, and called getOrdering to compute a colamd order. I fixed the test so it checks the right order. Unfortunately colamd is a worse ordering, and the two cliques from before are merged into one.
|
2009-11-19 06:37:06 +00:00 |
|
Frank Dellaert
|
8d8503bd99
|
constructor with three parents
|
2009-11-19 06:34:28 +00:00 |
|
Frank Dellaert
|
b2eee54b5a
|
push_back an entire factor graph
|
2009-11-19 06:34:07 +00:00 |
|
Frank Dellaert
|
e2a3d1cb8f
|
Fixed test
|
2009-11-19 04:52:46 +00:00 |
|
Alex Cunningham
|
f98f49381a
|
Added an example to testSQP to use for combining graphs
|
2009-11-18 21:57:59 +00:00 |
|
Alex Cunningham
|
d700cd2cac
|
Made some small changes to testSQP to simplify the system and improve convergence.
|
2009-11-18 20:23:07 +00:00 |
|
Alex Cunningham
|
7fc68e2d90
|
Updated testSQP to use a real SQP implementation as separate factors on the previous problem. SQP now works.
|
2009-11-18 19:42:14 +00:00 |
|
Frank Dellaert
|
76d0a60b88
|
commented out all print statements
|
2009-11-18 18:22:08 +00:00 |
|
Frank Dellaert
|
f40182518a
|
size() now returns correct nr. of cliques, not number of keys
|
2009-11-18 18:05:12 +00:00 |
|
Michael Kaess
|
d0efe2da5e
|
update almost correct, except for order
|
2009-11-18 17:40:05 +00:00 |
|
Frank Dellaert
|
23031fbc04
|
convert clique into factor graph
|
2009-11-18 17:28:07 +00:00 |
|
Frank Dellaert
|
1edcdb6f80
|
added SymbolicFactor constructor that takes a SymbolicConditional
|
2009-11-18 17:27:27 +00:00 |
|
Frank Dellaert
|
c7e76891da
|
skeleton hardcoded version
|
2009-11-18 17:03:19 +00:00 |
|
Frank Dellaert
|
bed219c997
|
no printout
|
2009-11-18 16:32:45 +00:00 |
|
Frank Dellaert
|
21974f95e1
|
test for incremental update
|
2009-11-18 16:31:19 +00:00 |
|
Frank Dellaert
|
bef2efacb7
|
fixed equals
|
2009-11-18 16:30:57 +00:00 |
|
Frank Dellaert
|
ceed2ae17d
|
symbolic tree in testIncremental
|
2009-11-18 15:37:19 +00:00 |
|
Michael Kaess
|
f56bf8c79f
|
added missing include to satisfy stricter compiler; added isam test file
|
2009-11-17 21:47:42 +00:00 |
Chris Beall
|
4f7d31986c
|
added cameraConstraint and corresponding unit test based on same 2 camera/4 landmark example, but now there are constraints on the two cameras and none of the landmarks.
|
2009-11-17 17:19:54 +00:00 |
Manohar Paluri
|
e4eaae4605
|
Added equals function and serialization capability
|
2009-11-17 01:19:55 +00:00 |
|
Manohar Paluri
|
d24846d9a0
|
fixed errors due to shared pointer change in VSLAMFactor
|
2009-11-17 01:02:55 +00:00 |
|
Manohar Paluri
|
e312252006
|
Changed camera matrix to a shared pointer
|
2009-11-17 00:51:27 +00:00 |
|
Manohar Paluri
|
256c094039
|
Added default constructor and Serialization
|
2009-11-16 23:49:04 +00:00 |
|
Alex Cunningham
|
20830a1534
|
Added testSQP demo to show a simple problem solved by Sequential Quadratic Programming. To see the outputs, set verbose=true at the start of the test.
|
2009-11-16 19:12:56 +00:00 |
|
Frank Dellaert
|
27a47c6535
|
Constructor now takes Point2
|
2009-11-13 06:19:21 +00:00 |
|
Frank Dellaert
|
d5ada2a80c
|
Test now succeeds after adding 3 landmark constraints
Also cleaned up a bit
|
2009-11-13 06:19:08 +00:00 |
|
Frank Dellaert
|
d26abf3ccf
|
addLandmarkConstraint
|
2009-11-13 06:18:27 +00:00 |
|
Frank Dellaert
|
309f2151cf
|
Clean-up
|
2009-11-13 06:17:59 +00:00 |
|
Frank Dellaert
|
fe974a3e72
|
Rank test needs to be re-thought
|
2009-11-13 06:17:19 +00:00 |
|
Frank Dellaert
|
f5fc14c0f4
|
Fixed bug in revealing rank, even simpler than before.
|
2009-11-13 06:16:56 +00:00 |
|
Frank Dellaert
|
7c045a0802
|
Fixed compile errors due to remaining VectorConfigs, and removed div0 warning
|
2009-11-13 06:15:48 +00:00 |
|
Frank Dellaert
|
17aaae42d8
|
Refactoring of weightedPseudoInverse, emul, sum
|
2009-11-13 06:14:55 +00:00 |
|
Frank Dellaert
|
2178589263
|
Debug printout and variable names
|
2009-11-13 06:13:58 +00:00 |
|
Alex Cunningham
|
67c2ea8263
|
NonlinearEquality factor is now working for generic configs. Currently, the feasible point must be specified in the form of a full config with the point in it, but this avoid needing to increase the requirements on the configs.
|
2009-11-13 02:06:52 +00:00 |
|
Viorela Ila
|
cba4a536bb
|
includes Ordering.h
|
2009-11-13 01:56:09 +00:00 |
|
Chris Beall
|
6252ff2497
|
added testVSLAMGraph unit test. will fail until we can add a constraint to either one of the two cameras.
|
2009-11-12 18:55:03 +00:00 |
|
Chris Beall
|
ef0fc9fbac
|
added testVSLAMGraph unit test. will fail until we can add a constraint to either one of the two cameras.
|
2009-11-12 18:54:46 +00:00 |
|
Frank Dellaert
|
03f865d4b1
|
Used typedefs with similar naming convention.
|
2009-11-12 18:33:14 +00:00 |
|
Alex Cunningham
|
5857635ca1
|
Fixed renaming error with NonlinearFactors sometimes becoming NonGaussianFactors
|
2009-11-12 16:47:12 +00:00 |
|
Alex Cunningham
|
c7b86cec97
|
Renamed ConditionalGaussian -> GaussianConditional
|
2009-11-12 16:41:18 +00:00 |
|
Alex Cunningham
|
77a1754b69
|
Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph
|
2009-11-12 16:16:32 +00:00 |
|
Frank Dellaert
|
1ae6bb4030
|
Added push_fron convenience method to add ConditionalGaussians into a Bayes net with much less clutter. Modernized some very old tests in the process.
|
2009-11-12 06:09:03 +00:00 |
|
Frank Dellaert
|
f677341108
|
Moved inference methods to new compilation unit. Added [factor], and [marginalize] now returns a factor graph.
|
2009-11-12 04:56:30 +00:00 |