Frank Dellaert
|
bc27afc49f
|
CGD method now uses CGD template in iterative.cpp
|
2009-12-28 10:48:48 +00:00 |
|
Frank Dellaert
|
863ee58c0f
|
new iterative.h/cpp compilation unit
|
2009-12-28 09:56:58 +00:00 |
|
Frank Dellaert
|
d9fd502656
|
moved CG tests from testGFG to testIterative
|
2009-12-28 09:44:30 +00:00 |
|
Frank Dellaert
|
1fac98b4cb
|
Errors:dot, VectorConfig::operator*/-, as a result Conjugate Gradient Descent template now works for factor graphs
|
2009-12-28 08:15:09 +00:00 |
Michael Kaess
|
5dfd1921e1
|
template nightmare resolved, all tests working
|
2009-12-27 23:15:36 +00:00 |
|
Frank Dellaert
|
266fc56dea
|
Gradient using new operator^ and errors method
|
2009-12-27 12:13:31 +00:00 |
|
Frank Dellaert
|
7d1428de60
|
Added Errors class and operator* for GaussianFactor and GaussianFactorGraph. Also moved a few functions to cpp.
|
2009-12-26 22:48:41 +00:00 |
|
Frank Dellaert
|
6614434b83
|
System version of CG
|
2009-12-26 21:25:45 +00:00 |
Richard Roberts
|
8d3918e7f9
|
Typo made testPose2Factor not build on Linux
|
2009-12-26 19:31:02 +00:00 |
|
Frank Dellaert
|
f3965b07ca
|
Conjugate Gradient Descent template (in progress)
|
2009-12-26 15:06:54 +00:00 |
|
Frank Dellaert
|
886c7dcdcc
|
formatting and comments
|
2009-12-26 15:06:21 +00:00 |
|
Frank Dellaert
|
8dbf79706e
|
commented out two broken tests
|
2009-12-26 15:05:55 +00:00 |
|
Michael Kaess
|
4403b51fcd
|
isam functionality separated into ISAM class, still within BayesTree
|
2009-12-26 04:44:13 +00:00 |
|
Frank Dellaert
|
2cb52694b5
|
Multiply with transpose sugar A'*v = A^v
|
2009-12-25 17:52:58 +00:00 |
|
Michael Kaess
|
80ff7e6d26
|
uncommented urban In Makefile.am as it prevents linking; added Pose2Prior; ISAM2/planar now working
|
2009-12-24 23:44:08 +00:00 |
|
Richard Roberts
|
92b60a8543
|
Made 'between' derivatives in the tangent space of the solution instead of tangent space of identity, this makes Pose2 an "origin-free" manifold.
|
2009-12-21 16:43:23 +00:00 |
|
Frank Dellaert
|
d0b757da48
|
remove method to set factor to NULL
|
2009-12-20 21:21:01 +00:00 |
justinca
|
3158a5c7c1
|
Rework UrbanMeasurement to be more efficient, less duplicate code. Add real unit tests for the class
|
2009-12-20 14:59:37 +00:00 |
|
Frank Dellaert
|
d362fa13d8
|
print is more intuitive using reverse order
|
2009-12-20 11:56:33 +00:00 |
|
Frank Dellaert
|
18c44e0d1f
|
Comments only
|
2009-12-20 10:32:34 +00:00 |
|
justinca
|
7012fd2857
|
UrbanMeasurement first pass at implementation. Still need to add test data, sort out some details.
|
2009-12-18 19:43:55 +00:00 |
|
Richard Roberts
|
82825a30bf
|
Fixed unit test broken by fix in Pose2Factor
|
2009-12-18 14:42:19 +00:00 |
|
Frank Dellaert
|
b14094cb1f
|
testUrbanOdometry
|
2009-12-18 07:15:19 +00:00 |
|
Frank Dellaert
|
d11d674c01
|
addOdometry now works
|
2009-12-18 06:55:44 +00:00 |
|
Frank Dellaert
|
c987ab397c
|
error_vectors
|
2009-12-18 06:55:24 +00:00 |
|
Frank Dellaert
|
bf504d30db
|
new concatVectors call
|
2009-12-18 06:11:19 +00:00 |
|
Frank Dellaert
|
ac72d1cc22
|
renamed transformPose_to to transform_to, composeTransform to compose, and changed nr. of arguments of Dtransform_to2 (to two)
|
2009-12-18 05:36:53 +00:00 |
|
Frank Dellaert
|
eaf27af92d
|
error_vector and error unit-tested
|
2009-12-18 05:18:31 +00:00 |
|
Frank Dellaert
|
edb72d305f
|
better error message, formatting
|
2009-12-18 05:16:09 +00:00 |
|
Frank Dellaert
|
0194926dc2
|
transpose not needed
|
2009-12-18 05:14:34 +00:00 |
|
Frank Dellaert
|
c9bd327961
|
formatting
|
2009-12-18 05:14:08 +00:00 |
Alex Cunningham
|
e2bc13a2a6
|
Renaming gradients -> jacobians
|
2009-12-18 03:05:47 +00:00 |
|
Frank Dellaert
|
a3deb992c4
|
use BOOST_FOREACH
|
2009-12-18 02:48:21 +00:00 |
|
Alex Cunningham
|
a1918056a5
|
Changed NonlinearConstraints to take cost and gradient functions that do not take the list of keys. Tests have been reconstructed using boost::bind
|
2009-12-18 02:39:02 +00:00 |
|
Frank Dellaert
|
5a0bc8ab53
|
remove binaries
|
2009-12-18 02:30:05 +00:00 |
|
Frank Dellaert
|
cf1fde7bda
|
UrbanFactor, UrbanGraph.cpp, template instantiations
|
2009-12-18 02:27:50 +00:00 |
|
Alex Cunningham
|
7d0de77fc6
|
Changed argument ordering for constraints
|
2009-12-18 01:40:29 +00:00 |
|
Frank Dellaert
|
7dfc67860c
|
unit tests for new Urban* classes
|
2009-12-18 01:24:28 +00:00 |
|
Alex Cunningham
|
d75a602546
|
Removed failed test testSQPOptimizer
|
2009-12-18 01:24:19 +00:00 |
|
Richard Roberts
|
ff817551de
|
Added FactorGraph::replace(index, factor) to replace one factor with another (used in FrameSLAM).
|
2009-12-18 00:13:38 +00:00 |
|
Richard Roberts
|
3c0ae0ec1c
|
Math fix in linearize() and error_vector()
|
2009-12-18 00:10:20 +00:00 |
|
Richard Roberts
|
7161878285
|
Small changes: standardized constructors, added log() and unit tests, removed +,- ops, angle() changed to theta(), print functions
|
2009-12-18 00:09:54 +00:00 |
Viorela Ila
|
d61d92c0e7
|
UrbanGraph class and testUrbanGraph TODOs
|
2009-12-17 21:23:50 +00:00 |
|
Frank Dellaert
|
68de3ae715
|
better comments
|
2009-12-17 19:34:27 +00:00 |
Manohar Paluri
|
dc9a966fdd
|
moved shared pointer declaration to Cal3_S2.h
|
2009-12-17 10:02:43 +00:00 |
|
Richard Roberts
|
3326759f0b
|
Removed extra ;
|
2009-12-16 21:41:33 +00:00 |
|
Richard Roberts
|
c45f64657f
|
Changes to make Pose2Config work with NonlinearOptimizer
|
2009-12-16 21:40:41 +00:00 |
|
Richard Roberts
|
83c95f2343
|
Changed constructor used from Pose2(t,R) to Pose2(R,t)
|
2009-12-16 21:39:03 +00:00 |
|
Frank Dellaert
|
9efac7b3fb
|
Some re-naming and re-formatting only
|
2009-12-15 05:34:49 +00:00 |
|
Richard Roberts
|
94f986bbe7
|
Indentation
|
2009-12-15 00:00:02 +00:00 |