bc094951ed
all values in Values container are now a ChartValue<ValueType, Chart=DefaultChart<ValueType> >
...
ChartValues are GenericValues and a Chart, which defaults to DefaultChart
had to make charts functional (ie no storage of the chart origin) so that they could be zero sized base class
otherwise there would have been a double of the memory for values (ones for the value, and once for the chart origin, which default to the same)
most tests work, execept for serialization based stuff, and const filtering of values.
2014-10-28 00:57:44 +01:00
9ef8980362
using static_cast in GenericValue's virtual functions
...
should be more efficient, but perhaps will crash instead of throwing an exception when the Value& derived class doesn't match.
2014-10-25 22:23:26 +02:00
c2cdd21a7a
added cast<ValueType> function to Value
2014-10-25 12:18:12 +02:00
4a3dc51f85
more tests work, except for serialization based tests
2014-10-24 23:47:02 +02:00
5b2a61682d
tests compiling, but many fail
2014-10-24 22:38:03 +02:00
1fadda83e0
removed DerivedValue<> inheritence from classes
2014-10-24 18:34:06 +02:00
0681212084
GenericValue based on defined traits to replace DerivedValue, first implementation
2014-10-24 16:59:37 +02:00
95827dd4d8
GenericValue.h copied from DerivedValue.h
2014-10-24 11:27:38 +02:00
c1c6a30e50
Removed print statement
2014-10-23 22:39:07 +02:00
cfe56a0aa8
Removed transpose_. It did speed up things but was bad design. Will need to profile again and find different ways to cope with transpose() overhead. One way is to return a Eigen::Transpose<> object as hinted to in comments.
2014-10-23 19:13:37 +02:00
79efd2f3fc
SLERP with Zhaoyang, not really part of BAD, but here it originated :-)
2014-10-23 19:11:44 +02:00
e7ec6b3fa5
Fixed size
2014-10-23 12:04:16 +02:00
e58317ed7d
Tightened some tests, fixed LieVector issues
2014-10-23 12:04:02 +02:00
77e7f0437d
Merge remote-tracking branch 'origin/feature/FixQuaternion' into feature/BAD
...
Conflicts:
gtsam/geometry/tests/testRot3M.cpp
gtsam/geometry/tests/testRot3Q.cpp
2014-10-23 10:03:10 +02:00
845697555a
Fixed tests for Quaternion mode but Pose3 not in EXPMAP mode
2014-10-23 09:52:35 +02:00
056254bf93
Optimized a bit more
2014-10-23 09:51:43 +02:00
a0be48ef75
revert from fixed size vectors to make it compile with existing numericalDerivatives
2014-10-22 22:00:25 -04:00
941d6dfe07
Fixed LogMap - something fishy in Eigen? Or at least low-accuracy.
2014-10-23 01:54:46 +02:00
19e34489cf
Made a common test
2014-10-23 01:54:14 +02:00
49ff33602d
Undid change
2014-10-23 01:44:04 +02:00
9b35206a4f
target
2014-10-23 01:43:54 +02:00
0501750c7c
Fixed accuracy and size issues in Quaternion mode
2014-10-22 22:54:25 +02:00
8902979944
Added target
2014-10-22 22:50:43 +02:00
483d713859
unrotate is same now, with transpose_
2014-10-22 22:16:35 +02:00
5a792c8847
No Cayley in quaternion mode
2014-10-22 21:55:35 +02:00
0f26842073
Added transpose_ in Quaternion mode
2014-10-22 21:55:11 +02:00
be676b22cf
Fix some tests
2014-10-22 16:26:56 +02:00
48a6777935
Some refactoring
2014-10-22 16:26:40 +02:00
a29f09423c
Merge branch 'develop' into feature/BAD
...
Conflicts:
gtsam/linear/tests/testGaussianBayesNet.cpp
2014-10-22 13:56:27 +02:00
e46be60215
Speeding up localCoordinates
2014-10-22 13:46:05 +02:00
1061a66fc1
Speeding up localCoordinates
2014-10-22 13:45:57 +02:00
0f53c8d5ec
Timing of Ceres AutoDiff adaptor
2014-10-22 12:49:18 +02:00
e18a2164bb
Fixed-size version of project2 (copy/paste!)
2014-10-22 12:48:45 +02:00
19f0e3fc46
Fixed-size versions (copy/paste!)
2014-10-22 12:48:15 +02:00
f44e6f0187
Moved AdaptAutoDiff template in its own header file
2014-10-22 11:41:04 +02:00
516bb4b0b1
Isolated Snavely example
2014-10-22 11:23:35 +02:00
439f51ec7f
test out invoke
2014-10-22 10:10:58 +02:00
4f9a751f83
Merge remote-tracking branch 'origin/feature/BAD_ceres' into feature/BAD: MASSIVE edit with ceres-style AutoDiff now Adaptable to expressions, as well as traits that specify group/manifold predicates and dimensions. A lot of the edits were because of the latter, and especially the traits-induced changes in numericalDerivative.
2014-10-22 01:36:10 +02:00
113b9d2e74
Got rid of unnecessary LieVector usage that broke fixed-code
2014-10-22 01:32:59 +02:00
3b0d2a5f47
Make it clear that argument types must be fixed-size (for now).
2014-10-22 00:40:28 +02:00
4b3e0dbcc0
Some new targets
2014-10-22 00:40:08 +02:00
b1aa7148c7
Fix dimensions, add is_group
2014-10-22 00:39:56 +02:00
06af482d61
Added test for Rot3 - all is good
2014-10-21 23:07:38 +02:00
1eb5e185e5
New numericalDerivatives with traits an Charts - still some segfaults, *and* there should be no need for (a) multiple prototypes to match against c++ pointers, (b) the use of explicit template arguments. A task for someone...
2014-10-21 18:50:52 +02:00
f46aa7cd8c
DefaultChart for dynamically sized Vector
2014-10-21 18:04:19 +02:00
fcbc1e90cf
More traits
2014-10-21 18:03:28 +02:00
224b71d696
Created testManifold
2014-10-21 12:54:28 +02:00
0acffe5ae9
Fixed bug in DefaultChart: keeping a reference s never a good idea.
2014-10-21 11:13:14 +02:00
25ad9ade05
Moved AdaptAutoDiff into its own test
2014-10-21 10:42:30 +02:00
13b433ad89
zero for double and fixed matrices
2014-10-21 10:42:05 +02:00
Mike Bosse
dellaert
cbeall3