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12887 Commits (b8f54666b04b47cfb3a83518534ea88a62fbf28b)

Author SHA1 Message Date
Frank Dellaert b8f54666b0
Merge pull request #687 from ptrmu/ptrmu_numericalGradient_typo 
typo in numericalGradient test hidden by duplicate test values
 2021-01-28 10:46:33 -05:00
Gerry Chen 97723d1826
Merge pull request #682 from borglab/feature/sparseJacobian3 
Speed up `sparseJacobianEigen()`
 2021-01-28 03:02:20 -05:00
Peter Mullen a3d06f635f type in test hidden by duplicate test values 2021-01-27 21:48:10 -08:00
Gerry Chen 53261a5e16 auto and reserve fewer 2021-01-27 16:58:05 -05:00
Gerry Chen 2590b3b980 replace sparseJacobian with "fast" version 2021-01-27 15:25:01 -05:00
Gerry Chen 8063b9ae95 disambiguate double template >> 2021-01-27 10:58:26 -05:00
Gerry Chen fa6bdd4042 fix comment and remove whitespace diff 2021-01-27 10:54:22 -05:00
Gerry Chen a17bd5c6d5 remove InPlace jacobian from .h file 2021-01-27 10:44:31 -05:00
Gerry Chen dcf8a52b8b remove unnecessary function overloads and typedefs 2021-01-27 10:27:32 -05:00
Varun Agrawal 364c437523
Merge pull request #685 from borglab/fix/pose2-print 
Fix Pose2 print
 2021-01-25 18:33:39 -05:00
Varun Agrawal ccd64fb08c use standard function to check for empty string 2021-01-25 16:22:09 -05:00
Varun Agrawal 5e8acf4378 fix bug in Pose2 print 2021-01-25 16:17:25 -05:00
jingwuOUO d267368b28
Merge pull request #533 from borglab/jing/powermethod 
Added accelerated power method to compute eigenpair fast
 2021-01-20 22:09:54 -05:00
Gerry Chen b638954266 formatting 2021-01-20 17:08:18 -05:00
Gerry Chen 570135c6f6 revert Matrix.h 2021-01-20 17:02:51 -05:00
Gerry Chen fd2d8a236a remove templating while maintaining efficiency 
Templating still used in cpp file for generic-ness, but not exposed
anymore

std::tuple has the same performance as Eigen::Triplet, but boost::tuple
is slower.  Sparse matrix indices are int instead of size_t for
efficiency (e.g. A(i, j) = s  ->  i/j are int's instead of size_t's)
 2021-01-20 17:01:15 -05:00
Gerry Chen 286898a847 move SparseMatrixBoostTriplets typedef to gfg 2021-01-20 12:25:20 -05:00
Varun Agrawal 06d8ec289d
Merge pull request #633 from borglab/fix/foot-imu 
Adds unit test for imu preintegration of a single step
 2021-01-19 21:03:10 -05:00
Gerry Chen b5951d033e populate sparse matrix with `insert` rather than `setFromTriplets` 
About 5% speed improvement.
 2021-01-19 20:56:18 -05:00
Varun Agrawal 229abc7fe7
Merge pull request #678 from borglab/fix/better-printing 
Better printing
 2021-01-19 20:54:00 -05:00
Varun Agrawal e86e328240
Merge pull request #679 from borglab/fix/misc 
Miscellaneous fixes
 2021-01-19 20:53:37 -05:00
Gerry Chen 9584860da0 eliminate copy/pasta from SparseEigen with generic version of sparseJacobian 2021-01-19 20:27:30 -05:00
Gerry Chen e3dd22925a more generic sparseJacobianInPlace function 2021-01-19 20:25:57 -05:00
Gerry Chen 7a6f632f4c add generic optional parameters to sparseJacobian 
Also, the unit test changed due to a 0 entry that was previously wrongly
included in the b-column of the sparse representation.
 2021-01-19 16:59:12 -05:00
Varun Agrawal 7eeed6dc14 remove cout statements from testImuPreintegration tests 2021-01-19 15:47:44 -05:00
Varun Agrawal f831bfd62e add override and formatting 2021-01-19 15:40:37 -05:00
Varun Agrawal afb28e91b6 add BearingRange measured to wrapper 2021-01-19 15:40:21 -05:00
Varun Agrawal 2168cd4a04 stream printing for Pose2 2021-01-19 15:39:37 -05:00
Varun Agrawal 56eb1bb808 use of passed in stream for print capture 2021-01-19 15:23:14 -05:00
Varun Agrawal 6f6588457b use streams instead of printf 2021-01-19 15:22:41 -05:00
Gerry Chen ada83d92dc minor efficiency modifications 2021-01-19 14:38:10 -05:00
Gerry Chen 77c65f8176 timing sparse eigen 2021-01-19 14:03:14 -05:00
Gerry Chen 8f13405f05
Merge pull request #677 from borglab/feature/sparseJacobian3 
additional `sparseJacobian` functions (new)
 2021-01-19 13:59:05 -05:00
Gerry Chen b76993b171 typo: `expected` changed to `expectedMatlab` 2021-01-19 11:47:44 -05:00
Gerry Chen e2f5be4e47 SparseEigen docstring 2021-01-19 11:04:26 -05:00
Gerry Chen 25e3b5609e roll back some cosmetic changes to minimize the diff 2021-01-19 11:01:25 -05:00
Gerry Chen d8491b27fb rename matrix type from `SpMat` to `SparseEigen` 2021-01-19 10:53:22 -05:00
Russell Buchanan 07244bbdea merge with upstream 2021-01-19 10:54:52 +00:00
Russell Buchanan bb662f0cb4 clean up 2021-01-19 10:49:42 +00:00
jingwuOUO 9c781b605f Set estimateBeta() as optional 2021-01-19 00:07:21 -05:00
Ayush Baid 654995e073
Merge pull request #675 from borglab/fix/shonan-noise-model-from-factor 
changing robust noise model to Gaussian
 2021-01-18 22:27:46 -05:00
Gerry Chen d9c03aa827 cleanup 2021-01-18 21:12:16 -05:00
Gerry Chen ee5701dcda fix off-by-one bug 2021-01-18 21:12:16 -05:00
Gerry Chen 44c232a128 organize/isolate sparseEigen functionality 2021-01-18 21:12:16 -05:00
Gerry Chen a477ec6811 merge Mandy + Fan's sparseJacobian unit test additions 2021-01-18 21:12:16 -05:00
Gerry Chen 56e9b3ac9f Mandy+Fan's original code for converting sparse matrices to Eigen format 2021-01-18 21:10:52 -05:00
Frank Dellaert c383b6c9f3
Merge pull request #673 from ToniRV/feature/clean_smart_stereo_proj_pose_factor 
Cleaning SmartStereoProjectionPoseFactor
 2021-01-18 15:35:27 -05:00
Toni 96dc9bfa5a Fix formatting 2021-01-18 14:48:19 -05:00
Toni 3d7e182822 Remove gtsam_unstable lib from examples 2021-01-18 14:47:39 -05:00
Toni 5ad65ed46c Fix formatting 2021-01-18 14:41:59 -05:00