c1ab0053eb
fixed bug with IMU bias. added option to delay start of GPS factors
2014-04-23 16:06:03 -04:00
2b52bad569
optimized point damping
2014-04-23 15:15:48 -04:00
e56666e85c
fixed print function
2014-04-23 14:53:01 -04:00
87f9e5bb2c
completed GPS factors
2014-04-23 14:45:17 -04:00
2ab81ae997
working on GPS factors
2014-04-23 12:39:47 -04:00
13d47fcee4
added IMU type 2 with noise
2014-04-23 08:58:50 -04:00
37b750411f
added gradientAtZero with raw memory access
2014-04-22 18:38:12 -04:00
67cfe5ea66
moved logging at the end of the iteration
2014-04-22 11:55:16 -04:00
e98c4c2ac2
added output message for TRYLAMBDA verbosity level
2014-04-21 19:18:21 -04:00
dd780e356c
fixed computation of linearized error in implicit schur factors
2014-04-21 18:59:33 -04:00
147f666a6c
make Jacobian/Hessian cast functions static to use them in other places. TODO: move them to GaussianFactor
2014-04-18 12:21:34 -04:00
faf4643dd3
size() should return size_t not Key
2014-04-18 12:19:55 -04:00
9dbabbc847
Another Windows fix. Everything now builds, as long as METIS and GeographicLIB are off.
2014-04-18 10:36:33 -04:00
36f53f7226
Fix errors on Windows with VS 2010
2014-04-17 23:53:41 -04:00
1ed2700515
Fix errors on Windows with VS 2010
2014-04-17 22:49:04 -04:00
5abf0b01ea
Added option for constant IMU bias
2014-04-17 22:21:22 -04:00
d3333c1c85
Fix errors on Windows with VS 2010
2014-04-17 22:07:55 -04:00
26c296603f
fixed use of 2nd order integration in matlab wrapper
2014-04-17 16:23:29 -04:00
a0a955e5a5
fixing imu simulator for non-identical rotations
2014-04-17 16:14:32 -04:00
322e3e08c8
consistent IMU factor1
2014-04-17 16:08:38 -04:00
3cae615991
amost fixed imu simulation
2014-04-17 16:00:18 -04:00
2e3dcd2ab7
code reorganization
2014-04-17 15:23:01 -04:00
9bc0ddd4a2
minor fixes
2014-04-17 14:11:18 -04:00
3d3748bb44
build dualgraph supports least-squares multipliers
2014-04-17 12:01:29 -04:00
99889703a6
add build dir to GTSAM_INCLUDE_DIR so projects built with gtsam build tree can find <gtsam/config.h>
2014-04-17 12:00:35 -04:00
e1c13c87d7
Added option for type 2 IMU factors
2014-04-17 10:09:53 -04:00
4552327e54
added space :)
2014-04-16 19:41:23 -04:00
b5f9862274
fixed bug with missing priors. Added IMU noise measurements to Monte Carlo runs
2014-04-16 16:20:10 -04:00
1432fb773b
minor changes
2014-04-16 15:25:05 -04:00
b85ebb501d
restructuring code to utilize functions and reduce size of primary script
2014-04-16 15:01:12 -04:00
7fb9f47072
Fix gtsam's old segfault bug in JacobianFactor::isConstrained: return false if it has no noisemodel. Test Nocedal06book, example 16.4, pg 475 passed.
2014-04-15 17:28:23 -04:00
02ac8d23b0
Test with Matlab's QP example
2014-04-15 16:47:07 -04:00
cbda04a96d
disable printing
2014-04-15 16:37:32 -04:00
90ec933da3
refactor QPSolver into its own class
2014-04-15 16:27:19 -04:00
47255fbab6
Detailed comments for choosing the step size
2014-04-15 16:03:14 -04:00
495b7ba099
Detailed comments about the lambda<0 condition for good ineq <=0 constraints, wrt the Lagrangian L = f(x) - lambda*c(x)
2014-04-15 15:14:10 -04:00
b07b431ac0
first ineq QP test passed!
2014-04-15 13:55:24 -04:00
22cbe326e3
fix bug in weightedPseudoInverse dealing with negative weights of ineq constraints
2014-04-15 13:55:04 -04:00
8367d45e48
improved matlab code for consistency check
2014-04-15 12:12:39 -04:00
765c5a534e
Merge branch 'origin/feature/new_imu_factors'
2014-04-15 11:07:12 -04:00
e232b6085b
wrapping smart factors
2014-04-15 11:06:38 -04:00
75b042bbcd
Working on IMU factors. made changes to noise
2014-04-15 11:05:43 -04:00
bd218feada
Merge branch 'develop'
2014-04-15 10:57:20 -04:00
f63db8859b
addind wrapper for smart factors
2014-04-15 10:56:17 -04:00
825eff0d49
small improvement on negative weights
2014-04-15 06:11:26 -04:00
dc31ef143a
fix bug in NoiseModel signs for ineq weights. Unittest dual graph
2014-04-15 06:07:41 -04:00
c2378204ef
QPSolver in progress. Finish building dual graph, but not tested.
...
Use mixed constrained noise with sigma < 0 to denote inequalities.
Working set implements the active set method, turning inactive inequalities
to active one as equality constraints by setting their corresponding sigmas to 0
and vice versa. Dual graph now has to deal with mixed sigmas.
2014-04-14 22:57:55 -04:00
97dd2fb931
Added camera factors to ground truth creation
2014-04-14 14:38:20 -04:00
926b4c6443
removed temporary variables - minor
2014-04-14 11:41:55 -04:00
fe81828a2c
add Serialization function to Unit3 and EssentialMatrix classes
2014-04-11 15:33:35 -04:00
djensen3
Luca
thduynguyen
Chris Beall
jing