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1439 Commits (b8de033bd0510367a044d0fddfa32127d7d61819)

Author SHA1 Message Date
Frank Dellaert 03db69117a Define and partially specify Range and Bearing functors 2015-07-12 15:51:49 -07:00
Frank Dellaert 3bad6fea67 moved RangeFactor to SAM 2015-07-12 12:12:59 -07:00
Frank Dellaert 5052eb2c64 cleaning up 2015-07-11 18:31:36 -07:00
Frank Dellaert 7ff3e11efd removed redundancy in naming 2015-07-09 11:29:32 -07:00
Frank Dellaert 3b16ad2967 Moved deprecated headers into subdirectory 2015-07-09 11:14:39 -07:00
Frank Dellaert 377b90941b switch to Rodrigues everywhere 2015-07-05 16:11:04 -07:00
dellaert 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
zhaoyang 35c23da427 change: add const traits and renaming some test parameters 2015-06-26 18:24:30 -04:00
zhaoyang 12f9b413ff feature: add concept test for similarity3 2015-06-26 16:01:26 -04:00
zhaoyang 400a17d9ab change: a little clean up 2015-06-26 15:44:08 -04:00
dellaert d415cffd4b Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 2015-06-23 22:41:33 -07:00
Frank Dellaert 801d1fb700 Merged in feature/performance (pull request #161) 
Improving performance
 2015-06-23 22:27:10 -07:00
cbeall3 0e022b3b33 Values::keys now returns KeyVector instead of list. Corresponding fixes in Matlab wrapper. 2015-06-24 00:35:32 -04:00
cbeall3 b0f04503c9 Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 
# Conflicts:
#	gtsam/linear/tests/testRegularHessianFactor.cpp
#	gtsam/slam/SmartFactorBase.h
 2015-06-23 10:03:42 -04:00
dellaert f9ddbb1345 Eliminated linked list 2015-06-21 01:45:56 -07:00
dellaert 128bac616c Globally replaced FastSet<Key> with KeySet. 2015-06-20 18:38:25 -07:00
Luca 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
Luca 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
Paul Drews 99fce3f5af Added a few tests 2015-06-11 19:55:10 -04:00
Paul Drews 76ffc45ee7 Merged 'develop'. 
Conflicts:
	gtsam_unstable/geometry/Similarity3.cpp
	gtsam_unstable/geometry/Similarity3.h
 2015-06-11 19:54:54 -04:00
Paul Drews f6ac546cc3 Added comparison to brute force matrix exponential 2015-06-11 13:56:35 -04:00
Paul Drews 5ceb7d9ddc Fully implemented logmap/expmap, which are used for retract/localCoordinates 2015-06-10 16:36:56 -04:00
Paul Drews 0d5f0510ab Expmap and Logmap, still incorrect around identity 2015-06-10 11:01:34 -04:00
dellaert d385984f26 Working compose/between/inverse derivatives 2015-05-26 01:08:27 -07:00
dellaert d060d4621e PoseRTV is now implemented using ProductLieGroup 2015-05-25 23:50:00 -07:00
dellaert 9d522c72f3 internal::LieGroup needed if you also want Testable traits 2015-05-25 22:04:04 -07:00
dellaert b23a51db6d PoseRTV as ProductManifold works 2015-05-25 17:13:08 -07:00
cbeall3 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
Duy-Nguyen Ta 58de1ac296 re-enable all tests. Disable printing. Fixing bad names due to unintentional global replace 2015-05-15 08:57:43 -04:00
Duy-Nguyen Ta 827caf1793 compute a feasible initial value for LPSolver: simple test passed. 2015-05-15 08:47:57 -04:00
Duy-Nguyen Ta f30e2501be compute error for constrained linear factor graphs 2015-05-15 08:45:47 -04:00
Duy-Nguyen Ta ee8316e291 fix comments 2015-05-15 08:44:58 -04:00
dellaert 79d20b6c44 GTSAM-style formatting 2015-05-13 23:44:46 -07:00
Abe 13a4da21b2 misc bugfixes and cleanup from skydio 2015-05-13 22:26:24 -07:00
Frank Dellaert e456923a74 Merged in feature/SimplerExpressions (pull request #135) 
Expressions without MPL
 2015-05-13 00:36:49 -07:00
Frank 057aef90d9 Fixed some more warnings on Ubuntu 2015-05-12 15:05:34 -07:00
Frank 4ba329c23b Fixed many warnings on Ubuntu 2015-05-12 13:46:24 -07:00
dellaert 4f846ff75f No more boost::mpl needed for Expressions 2015-05-12 01:33:33 -07:00
dellaert 81b3860991 Moved all internal data structures to internal namespace 2015-05-11 21:19:40 -07:00
dellaert 13dcc977f2 Moved Point2Vector wrapper from gtsam_unstable.h to gtsam.h 2015-05-03 17:31:08 -07:00
Chris Beall 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
nsrinivasan7 a4fac2ab62 added cout style print statements for similarity 2015-04-12 15:38:40 -04:00
cbeall3 ea6f5e3fb9 Use TriangulationParameters 2015-04-08 21:36:11 -04:00
cbeall3 762a7b7435 Remove selective relinearization and state 2015-04-08 17:52:25 -04:00
cbeall3 51482ea358 Remove template parameter D, get from Base::Dim instead 2015-04-08 14:21:40 -04:00
Duy-Nguyen Ta 40659cab38 first LPSolver test passed!! 2015-03-25 08:19:43 -04:00
dellaert 956b53dc3b Fixed sign in stereo version 2015-03-12 09:51:44 -07:00
dellaert 2bdeac30f0 Fixed compile error w PointCov 2015-03-12 07:56:47 -07:00
Duy-Nguyen Ta d8564f25e0 fix exception text 2015-03-12 09:37:26 -04:00
dellaert a4d1874af4 Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 2015-03-09 17:51:16 -07:00
dellaert faadf5b06f Fully compiles now 2015-03-06 08:48:35 -08:00
Thomas Schneider 472821f16d Merge remote-tracking branch 'upstream/develop' into fix/serialization_warnings 2015-03-06 17:10:59 +01:00
Thomas Schneider ebf5746987 Fix some serialization warnings. 2015-03-06 16:12:09 +01:00
Chris Beall 3be6b16995 relax threshold from 1e-7 to 1e-6 to make test pass. 2015-03-06 00:32:43 -05:00
dellaert 758aab6e80 Cleaned up test 2015-03-05 10:41:49 -08:00
dellaert b40c0f7f15 Fixed sign 2015-03-05 10:36:03 -08:00
dellaert dc3d5f77fe Extra stereo tests 2015-03-05 10:35:54 -08:00
dellaert e6a90db2d5 Migrated to non-keyed Fblocks 2015-03-04 23:11:01 -08:00
dellaert f28b083c14 Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3 
Conflicts:
	gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
 2015-03-04 16:02:25 -08:00
dellaert 74605df641 Re-ordered methods in .h and .cpp to match them 2015-03-03 07:42:31 -08:00
dellaert d8822e5b57 H1 works for rot/translation, but not scale :-( 2015-03-02 21:58:54 -08:00
dellaert 728991e31f Fixed H2 2015-03-02 21:08:57 -08:00
dellaert 05198c091e comment 2015-03-02 21:08:41 -08:00
dellaert e0e5590856 matrix() returns 4*4 matrix \in GL(4) 2015-03-02 21:08:23 -08:00
dellaert 6bfda9fcba Added prototype derivatives for transform_from 2015-03-02 20:34:56 -08:00
dellaert fcd00450d3 Formatting, use Point3/Rot3, resolved link error of operator*(Point3) 2015-03-02 20:09:44 -08:00
dellaert 1e58c0b0a2 Comments and standard BORG formatting 2015-03-02 19:34:33 -08:00
thduynguyen bdd00d8b49 move code to cpp and some small clean up 2015-03-02 08:27:24 -05:00
Frank Dellaert b2dcf35e77 Merged in feature/Similarity (pull request #117) 
Sim3 Support
 2015-02-26 23:33:37 +01:00
Paul Drews 6faa881de6 Make the code prettier. 2015-02-26 15:10:59 -05:00
dellaert 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
dellaert 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
dellaert 0bf95ae7f6 Removed obsolete code, including slow Schur-complement versions 2015-02-26 11:44:51 +01:00
dellaert fd71974ff3 Got mostly rid of computeEP: just a call to cameras.project2 2015-02-25 20:52:16 +01:00
dellaert 850470ef06 rename of computeJacobians overloads to better reflect functionality 2015-02-25 19:30:17 +01:00
Paul Drews abfcfa1a17 Merged 'develop'. 2015-02-25 11:00:46 -05:00
Paul Drews 9991ae04f3 Fixed unit tests 2015-02-25 10:59:25 -05:00
thduynguyen b9dbde14f2 fix file heading comments for doxygen 2015-02-25 09:09:33 -05:00
thduynguyen bd16c52e7c support params and verbosity debug info for LinearConstraintSQP 2015-02-25 08:07:40 -05:00
thduynguyen d80caeb44b small comment fix 2015-02-24 23:41:39 -05:00
thduynguyen d9773da125 rename classes 2015-02-24 23:40:53 -05:00
thduynguyen d2f919e632 Linear[In]EqualityFactorGraph --> [In]EqualityFactorGraph 2015-02-24 22:25:26 -05:00
thduynguyen ce50219f9d fix comments for doxygen 2015-02-24 22:15:41 -05:00
thduynguyen 54121ad26b add test for InfeasibleIntialValues exception 2015-02-24 22:10:07 -05:00
thduynguyen 0c025f798c fix comments 2015-02-24 22:09:31 -05:00
Paul Drews 8a88f101db Fix deprecation warnings 2015-02-24 21:58:17 -05:00
thduynguyen 95bb10d44a make QPSolver throws an exception if the provided initial values are infeasible 2015-02-24 21:49:27 -05:00
dellaert d7b5156dcc rename to reprojectionErrorAfterTriangulation 2015-02-25 01:14:36 +01:00
dellaert eb28d0ffa8 Restored reprojectionErrors -> reprojectionError 2015-02-24 14:09:35 +01:00
dellaert d6f54475c3 BIG change: SmartFactorBase and SmartProjectionFactor now templated on CAMERA 2015-02-23 12:43:43 +01:00
dellaert 64bb6b77d7 Merged in feature/SmartCT (pull request #107) 
Refactoring of Smart Factors
 2015-02-22 06:14:19 +01:00
zhaoyang 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
Paul Drews b53c26c934 Merge remote-tracking branch 'origin/develop' into feature/Similarity 
Conflicts:
	.cproject
 2015-02-20 00:36:52 -05:00
thduynguyen ba4698bf51 add comments, fix format, make test compiled 2015-02-19 08:51:54 -05:00
Paul Drews f9ccd23d4a Refactored into class and unit test 2015-02-19 01:21:20 -05:00
thduynguyen d8e184fadd fix traits::dimension 2015-02-18 09:13:15 -05:00
krunalchande 23dbaad23e Added test to test iterative framework. DOES NOT WORK YET. 2015-02-18 07:48:40 -05:00
krunalchande f1703db4aa Added comments 2015-02-18 07:48:40 -05:00
krunalchande 37fe405872 Added warmStart flag. 2015-02-18 07:48:39 -05:00
krunalchande 6b2b96ca2a updated with current constructor whch needs number of iterations 2015-02-18 07:47:55 -05:00
krunalchande 3142f0a9a7 disabled test 2015-02-18 07:47:55 -05:00
krunalchande 2476bbe8d7 can pass debug flag as parameter. 2015-02-18 07:47:55 -05:00
krunalchande 3e352f109e Added warm start for initializing active set. 2015-02-18 07:47:54 -05:00
krunalchande f4a4ce4325 added debug print statements 2015-02-18 07:47:54 -05:00
krunalchande e74b737a66 box-constraints unit test passed with prior and between factors 2015-02-18 07:47:53 -05:00
krunalchande 3653e93338 fix bug in dual feasibility check. We want dual variables < 0. 2015-02-18 07:47:53 -05:00
krunalchande 121feb2281 disable printing 2015-02-18 07:47:53 -05:00
krunalchande 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
krunalchande 276959e39a remove support for nonlinear constraints. Refactor SQPSimple to LCNLPSolver. 2015-02-18 07:47:53 -05:00
krunalchande 0fdd49ca4e Removed LinearEqualityManifoldFactorGraph. 2015-02-18 07:47:52 -05:00
krunalchande e0e5e72020 Fixed includes 2015-02-18 07:47:52 -05:00
krunalchande 79b69d4489 [unfinished] unit test with multiple betweenFactors with box constraint. 2015-02-18 07:47:52 -05:00
krunalchande 1dd23ced02 Simple unit test for NonlinearInequalityFactorGraph. 2015-02-18 07:47:52 -05:00
krunalchande de7149af63 Added licensing information. 2015-02-18 07:47:52 -05:00
krunalchande 2523fa2fe5 removed comment 2015-02-18 07:47:51 -05:00
krunalchande b6d85e83ae Fixed includes. 2015-02-18 07:47:51 -05:00
krunalchande c99a848148 Refactoring. 2015-02-18 07:47:51 -05:00
krunalchande d435fa72df removed all printing 2015-02-18 07:47:51 -05:00
krunalchande cc0e5cd3ca Working nonlinear inequality constraints with unit tests. 2015-02-18 07:47:51 -05:00
krunalchande fd461a1c15 [unfinished] prototyping inequality SQP with Luca. 2015-02-18 07:47:50 -05:00
krunalchande 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
krunalchande 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
krunalchande ccc243d37a Obtain dim by using traits. 2015-02-18 07:47:50 -05:00
krunalchande 147d174a66 test files deprecated, might be removed later 2015-02-18 07:47:49 -05:00
krunalchande 6d76b5910c added comments 2015-02-18 07:47:49 -05:00
krunalchande 2b1cc7bf22 Added Simple QP solver and test. Unit test doesn't work yet 2015-02-18 07:47:49 -05:00
krunalchande 3af06ef029 Added nonlinearconstraint and tests 2015-02-18 07:47:49 -05:00
krunalchande 7d2f69335d Added constructor 2015-02-18 07:47:48 -05:00
krunalchande b4c5237925 Added structure of test and class. Left with implementation. 2015-02-18 07:47:48 -05:00
Paul Drews 42d8e1fcb2 Working Sim3 Transform 2015-02-13 09:06:08 -05:00
cbeall3 5afc3c4cea again: overlooked Dim -> dimension because this factor has no unit test! 2015-01-28 16:48:12 -05:00
Paul Drews db73a0dd1d Working, with stub log/expmap and identity 2015-01-28 14:55:13 -05:00
Paul Drews 10b56a115c Working Similarity3 transform with unit tests. 2015-01-26 13:38:32 -05:00
Paul Drews c6b3535dda retract works, local coordiantes still broken 2015-01-25 01:28:16 -05:00
Paul Drews a87a3dd987 Rotation works, translation and scale incorrect 2015-01-24 22:42:48 -05:00
cbeall3 b1cea2bee7 overlooked Dim -> dimension because this factor has no unit test! 2015-01-23 14:29:25 -05:00
Paul Drews 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
Paul Drews bade68fa33 Simple single prior optimization 2015-01-12 12:58:17 -05:00
Paul Drews a88b10eacc Working similarity3 transform with unit tests 2015-01-07 09:57:48 -05:00
Paul Drews 89460fe931 Unit tests still fail, but believed to be correct. 2015-01-02 09:02:43 -05:00
dellaert e119846280 Updated examples and test 2014-12-28 19:10:41 +01:00
dellaert c58f2c15dc Moved to gtsam 2014-12-28 19:09:12 +01:00
dellaert 3587ad4e2c Merge remote-tracking branch 'origin/develop' into feature/SoundSlam 
Conflicts:
	examples/SFMExampleExpressions.cpp
 2014-12-28 18:53:09 +01:00
dellaert 7c455efe50 Made Event into new-style manifold 2014-12-28 18:24:00 +01:00
dellaert 2ee192e950 Fix header 2014-12-28 18:23:22 +01:00
dellaert 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
dellaert 9b5136d35c Moved examples 2014-12-28 17:15:14 +01:00
dellaert 401ee70364 Fixed overload resoltion error in template matching by removing overloads in traits 2014-12-28 17:14:04 +01:00
dellaert c4457682bc Fixed header file 2014-12-28 17:13:20 +01:00
dellaert a454327e7b Moved include file 2014-12-28 16:44:32 +01:00
dellaert 111b9511ac Moved timing files 2014-12-28 16:40:40 +01:00
dellaert 3ebcfc5ce0 make timing compiles 2014-12-28 16:37:54 +01:00
dellaert 097f0fb80d Fix paths 2014-12-28 14:51:19 +01:00
dellaert c8faa102e3 Moved EexpressionFactor related files to gtsam 2014-12-28 13:48:13 +01:00
dellaert e5017984a1 traits_x -> traits 2014-12-26 16:47:51 +01:00
dellaert aaf4588f20 Improved simple helicopter 2014-12-26 00:53:36 +01:00
dellaert 902e7e57e5 Fixing helicopter 2014-12-26 00:21:33 +01:00
thduynguyen 11858da42b fix testSimpleHelicopter 2014-12-25 17:25:42 -05:00
dellaert afe20d83bd Dealing with Pose3 mojo loss 2014-12-25 20:04:28 +01:00
dellaert 47ff09f6c8 Pose3 lost its mojo! But there are errors in Expmap/Logmap derivatives around identity... 2014-12-25 19:43:32 +01:00
dellaert 5c0db68152 Fixed compile error from develop 2014-12-25 18:16:47 +01:00
dellaert 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
dellaert d9f5681dc2 Fixed warning 2014-12-24 11:34:53 +01:00
dellaert 3d15868ece Renamed internal::LieGroup -> internal::LieGroupTraits 2014-12-24 01:34:33 +01:00
dellaert ea3b4624d8 Testable concept prereqs check 2014-12-23 14:56:48 +01:00
Mike Bosse 52ec4f0784 fixed serialization tests 2014-12-23 12:35:49 +01:00
dellaert c6ae119414 Tightened what is needed for Lie, i.e., fewer versions of retract/localCoordinates 2014-12-22 23:42:52 +01:00
dellaert f5c9c24330 Corrected sillyness 2014-12-22 23:41:42 +01:00
dellaert 355b938f3a Point3 loses its mojo (superfluous Lie/Manifold stuff) 2014-12-22 17:22:45 +01:00
dellaert 5473550eea Using traits in many places (forced by loss of Point2 mojo) 2014-12-22 16:02:33 +01:00
Mike Bosse 4a708c855f fixed testExpressionFactor.cpp 2014-12-22 11:33:52 +01:00
Mike Bosse a6f612844f fixed testTSAMFactors.cpp 2014-12-22 09:39:51 +01:00
dellaert 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
dellaert 99a50a2f87 Split up concepts into Group/Manifold/Lie/VectorSpace. Also fixed some implementations and put in exceptions elsewhere, rather than CONCEPT_NOT_IMPLEMENTED macro. 2014-12-22 02:50:52 +01:00
dellaert 79d8514528 MASSIVE edit: made Testable its own concept, and moderinized Testable.h to use Testable traits. This required adding Testable traits in many classes. 2014-12-21 22:02:57 +01:00
dellaert 00b374c9e9 Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits 
Conflicts:
	gtsam/base/LieScalar.h
	gtsam/geometry/Point2.h
 2014-12-21 14:39:23 +01:00
Mike Bosse d0e1c1a770 test compiling!! but 34 tests failed out of 198 2014-12-20 20:36:54 +01:00
Mike Bosse b7204b100d PoseRTV 2014-12-20 20:22:34 +01:00
thduynguyen b39d14872a remove lpsolve 2014-12-16 11:27:20 -05:00
Mike Bosse 07bcc18d43 fixed testTSAMFactors 2014-12-15 23:23:40 +01:00
krunalchande 44477e12f2 Fixed initialization error for active_ 2014-12-15 11:47:04 -05:00
Paul Furgale c0e4f76d94 More manifolds...more numerical differentiation...more. 2014-12-14 18:59:57 +01:00
Paul Furgale da4c44e12d More progress 2014-12-14 15:26:43 +01:00
dellaert 2225c10fc0 use ExpressionFactorGraph 2014-12-13 08:35:22 +01:00
thduynguyen 48b08bd58e more informative print for LinearInequality showing its active/inactive state 2014-12-13 01:04:46 -05:00
thduynguyen c4b574774a remove LinearConstraint. It is replaced by LinearEquality 2014-12-13 01:04:08 -05:00
krunalchande da318184ae sync with develop branch commit c1f048d 2014-12-12 18:46:54 -05:00
krunalchande e539738fd0 Remove support for dual keys. Added finished() after all matrices and vectors. Remove buildDualGraph from GaussianFactorGraph. Remove support for multipliedHessians for non-linear equality constraints. 2014-12-12 17:23:31 -05:00
krunalchande 181bfb4f0f Added support for compiling lpsolve on linux. Windows not tested 2014-12-12 17:21:07 -05:00
thduynguyen e12add2739 Merged in develop (pull request #71). Resolve conflicts. 2014-12-12 15:34:53 -05:00
thduynguyen 593795f65b use Eigen's predefined RowVector typedef 2014-12-12 12:51:19 -05:00
thduynguyen ac6f10ea74 enforce RowVector as Jacobian for single-valued linear inequalities 2014-12-12 12:43:07 -05:00
thduynguyen a26ef7b7a2 refactor QPSolver to work with single-valued linear inequality factors. Unit tests passed. 2014-12-12 12:03:00 -05:00
thduynguyen 6d68f5ffff equality constraints are always active 2014-12-12 12:02:06 -05:00
thduynguyen 4f28eace7e LinearInequality now only supports single-valued function. Add active/activate/inactivate function to use in the qp active set method. 2014-12-12 12:01:16 -05:00
Paul Drews a7b8e60272 Unit test failure, either retraction or localCoordinates is wrong for rotation 2014-12-12 10:38:59 -05:00
Paul Drews c6e4cd5e03 Operational Sim3 with basic unit tests 2014-12-12 10:12:58 -05:00
Paul Drews 69f27b9488 Additional unit test 2014-12-12 08:43:57 -05:00
dellaert 8f27b048f1 Moved experiment to doubleExpresso project 2014-12-12 08:53:32 +01:00
dellaert 541217175c Added ExpressionFactorGraph (should go away with move of ExpressionFactor to gtsam) 2014-12-12 08:00:02 +01:00
dellaert fa7071bdd8 Comments, renaming 2014-12-12 07:45:09 +01:00
dellaert 8cc813f03e Removed misguided Factory attempt in favor of direct expressions 2014-12-12 07:31:33 +01:00
Paul Drews 8c4468185a Take a stab at localCoordinates 2014-12-11 22:54:02 -05:00
dellaert a9121fc3fc Now it's super-easy to create priors on pieces of state. 2014-12-11 13:45:15 +01:00
dellaert 31ca0d76db Added unary version 2014-12-11 13:44:47 +01:00
dellaert cedf2647d2 Use handy dandy Factor Factory 2014-12-11 13:19:37 +01:00
dellaert 29dc382c22 Fixed small bug 2014-12-11 13:19:19 +01:00
dellaert f588a3928a Added handy dandy Factor Factory 2014-12-11 13:19:08 +01:00
dellaert d37216cde3 TOAFactor header 2014-12-10 22:50:41 +01:00
dellaert bb00e375da Print for MATLAB 2014-12-10 21:44:56 +01:00
dellaert dc84b6589e Added in real experimental data gathered by Jay at KU Leuven 2014-12-10 21:12:38 +01:00
dellaert d17caa5487 Event header and test file 2014-12-10 19:14:18 +01:00
dellaert 5d6e0bc753 Optimization test succeeds, but only with 5th microphone... 2014-12-10 19:00:52 +01:00
dellaert 2dcbc72d8d Derivatives work !!! 2014-12-10 17:58:35 +01:00
dellaert 0ceb09262c Put in prototype derivatives, needs unit test 2014-12-10 16:06:34 +01:00
dellaert cca1a54544 Everything done, except derivatives !!! 2014-12-10 16:02:13 +01:00
dellaert d54c70202a TOAFactor compiles and can be put into a factor graph 2014-12-10 15:43:31 +01:00
dellaert ba1a2685bc Not-working yet, but lots of progress towards TOAFactor 2014-12-10 15:10:59 +01:00
dellaert 5ce007446d Merge remote-tracking branch 'origin/develop' into feature/SoundSlam 
Conflicts:
	.cproject
 2014-12-10 14:47:58 +01:00
dellaert 777aa005b4 Developing time of arrival factor with Jay at KU Leuven 2014-12-10 14:24:10 +01:00
dellaert 22218eafc4 We will not wrap fixed Vectors and Matrices individually. Methods that take those can just as well be wrapped with Vector or Matrix. Note const and & are ignored for those. I added a small method, insertFixed, that allows one to put in small fixed size matrices for optimization. Did not do retrieval yet. 2014-12-10 10:45:22 +01:00
thduynguyen ba903536c8 fix ACTIVE/INACTIVE constants as Frank suggested 2014-12-09 22:29:21 -05:00
thduynguyen 565eb99948 remove a TODO as it's done. 2014-12-09 22:28:39 -05:00
thduynguyen 85397223ef fix QPSolver unit tests 2014-12-09 16:27:11 -05:00
thduynguyen 9b418c98ca fix LPSolver unittest 2014-12-09 16:26:19 -05:00
Andrew Melim 1e778cf77b No longer need to cast function pointers for expressions on Windows, with Optional Jacobian 2014-12-09 11:53:35 -05:00
Andrew Melim 137ea64200 Updating with OptionalJacobian 2014-12-09 11:49:47 -05:00
Andrew Melim 3bd491bf66 Merge branch 'develop' into fix/windowsExpressions 2014-12-09 11:04:30 -05:00
thduynguyen 001794ac84 refactor QPSolver inprogress... Compiled but tests failed. 2014-12-09 06:13:57 -05:00
thduynguyen 8c4705b905 check testable concept 2014-12-09 06:13:01 -05:00
thduynguyen a4f8ead2a6 add print 2014-12-09 06:12:41 -05:00
Andrew Melim cea76a2848 More template handholding for windows 2014-12-08 21:48:59 -05:00
Andrew Melim 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
dellaert 468aa5d6b6 Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives 2014-12-05 22:23:12 +01:00
cbeall3 a7b61373a9 Fix include path for moved Autodiff stuff 2014-12-05 13:52:49 -05:00
dellaert f71513b3bf Compiles and test runs 2014-12-05 15:50:09 +01:00
Paul Drews 51c4a50c23 Initial broken commit of Similarity Transform 2014-12-05 09:28:10 -05:00
dellaert 02075b7575 Moved to project 2014-12-04 21:08:31 +01:00
dellaert 4fd2a288a2 Expressions now require OptionalJacobian 2014-12-04 21:08:15 +01:00
dellaert 96016edf85 Merge remote-tracking branch 'origin/develop' into feature/fixedSizeDerivatives 
Conflicts:
	.cproject
 2014-12-04 21:07:34 +01:00
cbeall3 30c4092d80 Move AdaptAutodiff and test to close issue #142 2014-12-04 12:15:53 -05:00
dellaert d2e53d4fe9 "Fixed" AHRS 2014-12-04 12:30:41 +01:00
cbeall3 003e7a06ab 3rdparty/ceres include paths 2014-12-03 23:11:54 -05:00
cbeall3 cbaf96e28c Move and rename ceres headers 2014-12-03 23:07:26 -05:00
Natesh Srinivasan 4e557d38e6 updated Matrix.h with commonly used matrices. 2014-12-03 09:59:10 -05:00
Chris Beall b318857216 Now valgrind error free 2014-12-02 08:37:32 -05:00
dellaert 468d1bd78a Fixed unitialized error, fixes issue #179 2014-12-02 11:10:59 +01:00
dellaert 1330d6b7f2 Removed legacy code 2014-12-02 11:10:29 +01:00
dellaert 6910c70d4b Prototype FourierDecomposition class 2014-12-01 22:30:04 +01:00
Frank Dellaert a92f9b3335 Merged in fix/unrollingReverseADInterfaceRecursionForCodeSimplicity (pull request #56) 
unrolled the reverseAD recursion (issue #151)
 2014-12-01 20:43:45 +01:00