b67d2ae5f7
create a temporal order
2009-11-03 16:18:01 +00:00
e9d942f81e
BayesNet is now list-based for fast bi-directional access
...
SLOW O(n) random access operator[key] provided
(should maybe be called [at] as it does bounds checking)
I also fixed a bug in equals.
2009-11-03 06:29:56 +00:00
eab038651e
Renamed BayesNet::insert -> push_back. BayesTree now uses Bayes nets as nodes.
2009-11-02 05:17:44 +00:00
a8d267c4ca
Small change necessitating lots of edits: Conditionals now include key of random variable
...
This simplifies Bayes nets quite a bit. Also created a Conditional base class, derived classes ConditionalGaussian and SymbolicConditional
Finally, some changes were needed because I moved some headers to .cpp
2009-11-02 03:50:30 +00:00
943b692a6b
BIG CHANGE: I got rid of the BayesChain/ChordalBayesNet classes and we now simply have a BayesNet class. It will just happen to be chordal when it is the result of an elimination. This will simplify a lot of things.
...
The main renaming that happened is
BayesChain -> BayesNet
ChordalBayesNet -> GaussianBayesNet == BayesNet<ConditionalGaussian>
SymbolicBayesChain -> SymbolicBayesNet == BayesNet<SymbolicConditional>
2009-10-31 19:53:20 +00:00
921cb0a8fc
Got rid of (defunct) "dump" methods
2009-10-31 17:13:36 +00:00
c046fed37c
Bayes tree constructor implemented and tested with ASIA, as well as smoother example from frankcvs meeting
2009-10-31 16:57:36 +00:00
1e5a2d692a
const
2009-10-31 16:56:06 +00:00
040f407b0b
Removed constructor, use eliminate
2009-10-31 16:55:44 +00:00
0f688302ad
Fixed bug in [parents]
2009-10-31 16:55:17 +00:00
68d2f81f0a
Smoother now creates x1...xT, not x0 anymore
2009-10-31 16:54:38 +00:00
fd5f43092f
Ordering is now a list and Testable
2009-10-31 15:24:22 +00:00
e1f14b34c3
Implemented [equals] using binary predicate and STL's equal
2009-10-31 14:12:41 +00:00
b9ceca7dc6
Templated binary predicate [equals] for use with STL's equal(...)
2009-10-31 14:11:48 +00:00
53890c4ba6
Symbolic Bayes Tree successfully constructed
2009-10-31 05:12:39 +00:00
cefeca149b
Moved template definitions to BayesTree-inl.h
2009-10-30 13:03:38 +00:00
0d7d0e2161
Explicit template instantiation in .cpp files, so we can link with the code without having to include -inl.h everywhere...
2009-10-30 05:45:22 +00:00
83e5286710
ChordalBayesNet is now derived from BayesChain
...
Explicit template instantiations
2009-10-30 04:54:11 +00:00
dd3795ad5a
Symbolic eliminate now works, new compilation unit SymbolicFactor
2009-10-30 03:48:32 +00:00
65b949c008
Fixed flaw in pseudoinverse calculation, and updated tests for Matrix and Vector
2009-10-29 20:12:07 +00:00
80b162a412
LinearFactorGraph::eliminate_one is now FactorGraph::eliminateOne<ConditionalGaussian>
...
Symbolic version FactorGraph::eliminateOne<SymbolicConditional> also implemented and tested
2009-10-29 14:34:34 +00:00
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
...
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
...
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"
...
- 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
...
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
Viorela Ila
Frank Dellaert
Alex Cunningham
Richard Roberts
Brian Law
Chris Beall