Commit Graph

338 Commits (b9e15ee789ac72c7eae2f91f29b40d1d8ca636ab)

Author SHA1 Message Date
Manohar Paluri b9e15ee789 Added cpt to BinaryConditional 2009-12-06 23:28:46 +00:00
Manohar Paluri 60a3a21d5a Binary Bayes Net, incomplete 2009-12-06 21:46:46 +00:00
Frank Dellaert 2a4e90a283 Re-factored append_factor to use FOREACH_PAIR 2009-12-05 02:00:20 +00:00
Chris Beall e98081f92c changes to append_factor which give more than 2x speedup on my data. Matrices in As are no longer copied/edited/replaced each time they need to be changed, but created once and then updated in place. 2009-12-04 21:03:32 +00:00
Eohan George ae9789c9ee Cleaner printing with tabs after each element 2009-12-02 23:01:49 +00:00
Kai Ni 5bde26a885 odprintf is an auxiliary function to printf for Win32 compatibility 2009-12-02 19:37:54 +00:00
Richard Roberts a367b97dc0 Fixed IPP 2009-12-01 21:10:10 +00:00
Alex Cunningham e26acc0d8d Changed nonlinear constraints to use boost.bind to handle arbitrary function objects for evaluating cost, useful for parameterizing cost functions. 2009-12-01 19:45:47 +00:00
Richard Roberts 64b884e722 Creating new project ISAM2 2009-12-01 19:42:39 +00:00
Viorela Ila fb7beb4494 fixed Matlab examples 2009-12-01 16:04:15 +00:00
Viorela Ila c00252a8f6 add method combine to GaussianFactorGraph in gtsam.h 2009-12-01 16:01:29 +00:00
Richard Roberts e05746cf74 Adding gt_use_ipp() 2009-12-01 14:58:43 +00:00
Richard Roberts 42a644c0ef A few bug fixes 2009-11-30 23:20:07 +00:00
Alex Cunningham a3ce3f31c8 Cleanup with NonlinearConstraints to make the active() function do thresholding for inequality constraints, rather than constraint function itself.
testSQP now has all tests active and passing.
Added greaterThanOrEqual() for vector comparison.
2009-11-30 17:36:34 +00:00
Alex Cunningham 1799f59388 Added a function for the SQPOptimizer that will iterate until convergence. At the moment, the convergence conditions are quite simple (error below threshold or too many iterations). The system does, however, strictly limit the number of iterations. 2009-11-28 22:49:14 +00:00
Alex Cunningham 1525253123 Inequality Constraints now work in a simple obstacle-avoidance demo in testSQPOptimizer. It should be noted that convergence conditions are still not implemented. 2009-11-28 21:44:07 +00:00
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. 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. 2009-11-28 19:18:02 +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
Richard Roberts 674d35855b Made "Debug" the default build type so we get -g flags 2009-11-27 20:27:05 +00:00
Alex Cunningham f3e825767b NonlinearConstraints now handle inactive constraints (when the state is already in the feasible region) by returning empty factors on linearization. 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
Richard Roberts f6ff04b75f One more fix... 2009-11-26 20:56:33 +00:00
Richard Roberts 7f40b88427 Another fix 2009-11-26 17:43:03 +00:00
Richard Roberts dd5d65b170 Small fixes 2009-11-26 17:35:16 +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
Richard Roberts da36d07b93 Adding buildtools not used by gtsam, but used by other projects (figuring people will always have gtsam checked out) 2009-11-26 00:15:40 +00:00
Alex Cunningham 43e4c66407 Added more detail to VSLAM test that diverges. 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. 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.
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. 2009-11-24 14:14:03 +00:00
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. 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
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 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