Kai Ni
|
1685920d52
|
fixed Ab2 bug
|
2010-01-23 05:29:04 +00:00 |
|
Kai Ni
|
b092fee64b
|
pose2slamoptimizer unit tests worked
|
2010-01-23 03:49:05 +00:00 |
Frank Dellaert
|
807cffbd61
|
Pose2SLAMOptimizer prototype for use in MATLAB
|
2010-01-23 00:57:54 +00:00 |
|
Frank Dellaert
|
41a6e64bbb
|
Fixed insert to use IndexTable, a new class
|
2010-01-22 02:27:26 +00:00 |
|
Frank Dellaert
|
0dc4f417e9
|
sampling from NoiseModel
|
2010-01-21 08:31:18 +00:00 |
Alex Cunningham
|
5f588031bc
|
Merged NoiseQR back into trunk
|
2010-01-20 18:32:48 +00:00 |
|
Alex Cunningham
|
67878830a6
|
Added timeMatrix.cpp to test specific matrix operations
|
2010-01-19 20:59:22 +00:00 |
|
Alex Cunningham
|
88e465910a
|
SQP tests and implementation now use the new Key system
|
2010-01-19 05:33:44 +00:00 |
Michael Kaess
|
0e6607d160
|
relinearization working, but currently applied to all variables
|
2010-01-18 22:37:44 +00:00 |
|
Alex Cunningham
|
dfeacb218e
|
Added tests for Keys, Added TypedLabeledSymbol class to allow for runtime symbols on keys
|
2010-01-18 16:18:02 +00:00 |
|
Frank Dellaert
|
3a83e0678d
|
KISS refactor of NoiseModel
|
2010-01-17 00:37:34 +00:00 |
|
Frank Dellaert
|
049cea6964
|
3D Pose SLAM + removed obsolete Urban files that somehow re-appeared in CitySLAM
|
2010-01-16 19:37:17 +00:00 |
|
Frank Dellaert
|
99db4c37d8
|
2D Pose SLAM: created a new templated factor to accommodate GPS measurements, and as part of the refactor I consolidated all Pose2 SLAM classes in pose2SLAM.h. For backwards compatibility it contains
typedef pose2SLAM::Prior Pose2Prior;
typedef pose2SLAM::Odometry Pose2Factor;
typedef pose2SLAM::Constraint Pose2Constraint;
typedef pose2SLAM::Config Pose2Config;
typedef pose2SLAM::Graph Pose2Graph;
|
2010-01-16 18:01:16 +00:00 |
|
Frank Dellaert
|
4914091c87
|
Pose2Prior test
|
2010-01-16 15:39:39 +00:00 |
|
Frank Dellaert
|
df62213619
|
RangeFactor works
|
2010-01-14 06:00:17 +00:00 |
Richard Roberts
|
ac10c440e1
|
PairConfig is implemented, VSLAMConfig is now a typedef!
|
2010-01-14 02:58:29 +00:00 |
|
Frank Dellaert
|
5a02b36723
|
Solved some linking problems
|
2010-01-14 01:44:00 +00:00 |
|
Kai Ni
|
4369cd2d92
|
1) add a compose function that compose all the poses in a factor graph given the spanning tree
2) add a new graph-inl.h which takes care of all the boost graph related functions to prevent the copy and paste across several classes
|
2010-01-12 16:12:25 +00:00 |
|
Frank Dellaert
|
769763a35d
|
new target/ignore
|
2010-01-12 03:16:45 +00:00 |
|
Richard Roberts
|
1dcc864d97
|
Comment cleanup to /** style and adding global print functions
|
2010-01-10 22:41:23 +00:00 |
|
Frank Dellaert
|
1a96ef41cf
|
Created Pose3Config, Pose3Graph, and tested loop closure optimization.
|
2010-01-10 18:21:20 +00:00 |
|
Frank Dellaert
|
65e4dc1342
|
pose2Circle
|
2010-01-10 15:46:18 +00:00 |
|
Frank Dellaert
|
794ffd3b2f
|
Fixed significant bug in Pose2Factor, where we forgot to multiply the error with the square root inverse covariance.
|
2010-01-10 13:55:55 +00:00 |
|
Richard Roberts
|
4fa53a1f79
|
Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function.
|
2010-01-10 06:35:16 +00:00 |
|
Kai Ni
|
e5fe4a69f7
|
change no. of build processes in eclipse to 2
|
2010-01-08 07:51:29 +00:00 |
|
Kai Ni
|
9845a5ae37
|
add findMinimumSpanningTree to FactorGraph
|
2010-01-06 11:15:37 +00:00 |
|
Frank Dellaert
|
f82b46f96c
|
Sped up rodriguez and replaced slow implementation with call to fast implementation. Also moved some functions to cpp.
|
2010-01-02 14:28:18 +00:00 |
|
Frank Dellaert
|
a1c55b9f62
|
Updated Pose2Config to expected coding standard
|
2010-01-02 10:33:33 +00:00 |
|
Frank Dellaert
|
603b692406
|
New Targets
|
2009-12-31 12:57:06 +00:00 |
|
Michael Kaess
|
75ab62a729
|
ISAM2 (nonlinear ISAM) partially there, unit test currently disabled
|
2009-12-29 05:57:05 +00:00 |
|
Frank Dellaert
|
d9fd502656
|
moved CG tests from testGFG to testIterative
|
2009-12-28 09:44:30 +00:00 |
|
Michael Kaess
|
5dfd1921e1
|
template nightmare resolved, all tests working
|
2009-12-27 23:15:36 +00:00 |
|
Frank Dellaert
|
b14094cb1f
|
testUrbanOdometry
|
2009-12-18 07:15:19 +00:00 |
|
Frank Dellaert
|
7dfc67860c
|
unit tests for new Urban* classes
|
2009-12-18 01:24:28 +00:00 |
|
Frank Dellaert
|
a9dc57db2c
|
|
2009-12-09 21:00:53 +00:00 |
Viorela Ila
|
8e079a9794
|
add testPose2Constraint.run target
|
2009-12-09 17:30:47 +00:00 |
|
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.
|
2009-11-28 18:35:36 +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 |
|
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.
|
2009-11-26 05:52:17 +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.
|
2009-11-24 15:12:59 +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
|
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
|
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
|
ceed2ae17d
|
symbolic tree in testIncremental
|
2009-11-18 15:37:19 +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
|
fc440f823b
|
New make targets
|
2009-11-13 06:20:41 +00:00 |
|
Alex Cunningham
|
35bbca7155
|
Switched make targets to use correct GaussianFactor/Graph
|
2009-11-13 02:22:50 +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 |
|
Frank Dellaert
|
8bc29cf11b
|
new target
|
2009-11-12 23:42:38 +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 |