4c48bb08e1
Vector and Matrix updated with improved weighted householder operations and more tests.
2009-10-29 12:52:27 +00:00
a513ae0287
Changed names and moved two LinearFactorGraph functions to FactorGraph
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Added SymbolicFactorGraph compiulation unit and unit tests
Added symbolic combine constructor
2009-10-29 05:39:13 +00:00
f0c23a2828
Moved [factors] to FactorGraph
2009-10-29 04:49:13 +00:00
b6cee73571
Significant change: Made FactorGraph templated on Factor only, and moved error and probPrime to derived classes
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Moved find_and_remove_factors to base class
Added and tested symbolic factor graph constructor and conversion from any factor graph type
2009-10-29 04:11:23 +00:00
1f792a53ea
Made some progress on symbolic analysis
2009-10-28 02:57:38 +00:00
50763ef764
Prototype for Bayes nets for Manohar
2009-10-27 20:44:40 +00:00
bb15697cf9
Prototype framework for Bayes chain (new name for Chordal Bayes net) and Bayes tree class hierarchy
2009-10-27 20:23:19 +00:00
94da98411c
Fixed NULL problem
2009-10-27 20:22:02 +00:00
e37e771c8e
My last commit broke the linearFactorN unit test, fixed now.
2009-10-27 15:31:45 +00:00
cb22a0bc52
Renamed variables in linearFactorN unit test
2009-10-27 15:13:13 +00:00
37bc303492
Added weighted Householder transforms that use precisions perform QDR factorization. Functions create a weighted vector pseudoinverse, and then use the pseudoinverse to substitute a solution into system.
2009-10-27 14:21:22 +00:00
626d06905c
Removed obsolete optimize call and documented better
2009-10-27 14:14:36 +00:00
4d9ff77249
moved timing example here from EasySLAM
2009-10-27 13:34:36 +00:00
422169873c
moved [symbol] function to LinearFactor
2009-10-27 13:33:44 +00:00
11f0d04cb6
made all classes that currently have an assert_equal "Testable"
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- derive from testable as in class Point2 : Testable<Point2>
- moved print and equal declarations in .h right after the constructor
- similarly, moved implementations after constructors in .cpp file
- removed obsolete assert_equal
2009-10-26 19:26:51 +00:00
3b30fe50b0
Moved print and equals to -inl.h
2009-10-25 22:27:18 +00:00
7a968962db
Order of arguments = expected, then actual
2009-10-25 22:26:56 +00:00
57bc102548
Equals now checks for NULLs
2009-10-25 14:25:17 +00:00
f54ba387fe
FactorGraph, ChordalBayesNet, and ConditionalGaussian now Testable
2009-10-24 23:14:14 +00:00
3792c79706
Fixed NonlinearFactor2 equals and added some unit tests for equals
2009-10-24 20:01:47 +00:00
06a7898da2
add the execution time test
2009-10-24 14:09:30 +00:00
ebd6fb96d8
create a map and trajectory (not rand)
2009-10-24 14:06:17 +00:00
563abc2b3f
formatting only
2009-10-24 04:07:32 +00:00
baef89ccf0
updated find_factors_and_remove to use map of factor indices to gather factors connected to a variable. factors are set to null instead of being erased. also updated size() to count non-NULL factors, and print() to only print non-NULL factors. added new unit test which tries to remove the same variable twice.
2009-10-23 00:56:40 +00:00
52bedcad3a
order 1 factors by using map
2009-10-22 21:33:00 +00:00
cd3e3d8a86
Fairly substantial change: Factor now Testable, MutableLinearFactor gone
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The latter was prompted by the fact that assert_equal did not like mixing LinearFactor and MutableLinearFactor
But MutableLinearFactor always was a bit of a kluge. We should eradicate all non-const on LinearFactor some other way.
2009-10-22 17:23:24 +00:00
0d580032c5
Added unit test for creating an n-ary LinearFactor
2009-10-22 15:52:39 +00:00
2aec16d3cf
Combined evaluation/derivatives now return the function value instead of using a pointer
2009-10-22 14:44:27 +00:00
6c8531ed9c
Point2 now Testable, removed obsolete assert_equal, as every testable class can use the template version in Testable.h
2009-10-22 14:43:36 +00:00
9a579fcdaf
No need for Testable constructors
2009-10-22 14:42:19 +00:00
e52c574e46
Added an empty virtual destructor to fix a compile warning
2009-10-22 14:27:44 +00:00
ae57441c3d
Added a constructor to create an n-ary factor from an std::vector of key/A-matrix pairs
2009-10-22 14:27:03 +00:00
c3b8a20b5c
Added new test for find_factors_and_remove and deleted obsolete one
2009-10-22 13:28:37 +00:00
1b199a4d3b
Added a "factors" function that returns indices to all factors connected to a variable.
2009-10-22 05:02:31 +00:00
41c1d7a898
no more FGConfig
2009-10-22 05:00:24 +00:00
3e6739f2fd
Now Matlab toolbox compiles!!
2009-10-20 20:41:45 +00:00
019a05d93d
mex: compile of ' "eliminate.cpp"' error fixed. but still not compiling
2009-10-20 18:57:33 +00:00
543ad1409f
Changing from set to vector: insert -> push_back
2009-10-20 15:22:06 +00:00
19bdb5c2f9
Better name for delta: linearizeAndOptimizeForDelta
2009-10-19 19:12:48 +00:00
d8c04ecfcb
Fixed serialization include header.
2009-10-18 17:35:15 +00:00
ed616a26ed
Finally gave in and made LinearFactorSet into a vector. Pragmatism wins.
2009-10-18 16:49:10 +00:00
82d541f6a3
Fixed wrapper problem
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This was because VectorConfig was parsed as Vector. Just changing the order of the parsers fixed this.
2009-10-17 04:29:14 +00:00
0d66ee8f72
comments only
2009-10-15 14:56:40 +00:00
485f8d003b
Added notes concerning the ordering issue when handling sets of LinearFactor::shared_ptrs
2009-10-14 21:06:44 +00:00
7d0a30c20f
Renamed FGConfig to VectorConfig in gtsam, easylib, EasySLAM, and mast.
2009-10-14 20:39:59 +00:00
8f20523e7f
ConstrainedLinearFactorGraphs now handles multiple constraints on a node properly.
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smallExample was changed to include two of the examples used in testConstrainedLinearFactorGraph
ConditionalGaussian was changed to make solve() virtual, as this is necessary for ConstrainedConditionalGaussian
2009-10-14 15:32:05 +00:00
92b920cb48
updated to be templated on Config.
2009-10-13 20:55:07 +00:00
66dac8a52f
Generalized constraint handling to create a LinearConstraint which implements linear equality constraints that can be eliminated as a part of a ConstrainedLinearFactorGraph. DeltaFunction has been changed to be a ConstrainedConditionalGaussian, which has a more robust solve() function. The new tests no longer use the "constrained" example from smallExample, so those functions have been commented.
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''Limitations: ''
* Any given node can only have one constraint on it, but constraints can be of arbitrary size
* Constraints can only be specified as a blockwise system, where each block must be square and invertible to support arbitrary elimination orderings.
* ConstrainedNonlinearFactorGraph is disabled until a better solution for handling constraints in the nonlinear case is determined.
2009-10-08 13:57:22 +00:00
3efe95abee
Removed ConstrainedChordalBayesNet and associated test. It may return if ConstrainedConditionalGaussians need more involved processing in future versions, but for all versions of LinearConstraint, there is no need for a special Constrained CBN.
2009-10-08 13:43:43 +00:00
989f290c99
'''BIG CHANGE''': avoid converting back and to FGConfigs by templating on configuration type. Details:
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* Factors are now templated on the configuration type. Factor Graphs are now templated on the factor type and configuration type.
* LinearFactor is a factor on an FGConfig.
* LinearFactorGraph uses LinearFactor and FGConfig.
* NonLinearFactor is still templated on Config.
* NonLinearFactorGraph uses NonLinearFactors, but is still templated on Config.
* Tests and VSLAMFactor have been updated to reflect those changes.
2009-10-06 18:25:04 +00:00
Alex Cunningham
Frank Dellaert
Richard Roberts
Brian Law
Viorela Ila
Chris Beall