c97f29be23
first unittest finding QP's feasible initial point works
2014-05-01 23:55:43 -04:00
6520ae8075
fix bugs in variable's columnNo index when passing to lpsolve. Obviously lpsolve modifies the raw buffer we pass to it!
2014-05-01 18:42:18 -04:00
2408faed24
add lp_solve and the gtsam LPSolver interface
2014-05-01 14:55:05 -04:00
e2e93627aa
QPSolver now returns dual values after solving. This can be used as a guessed dual value for the nonlinear level
2014-05-01 14:44:14 -04:00
bb1d8e6bb2
move detailed comments to the cpp file. An important comment about an Eigen's exception when converting a jacobian to a hessian factor, probably due to a bug in clang compiler.
2014-05-01 14:41:55 -04:00
dd43a87430
remove support for embedded lagrangian part to constraint's jacobian matrices. It's very hacky!
2014-04-29 16:20:32 -04:00
8b5ef17f0e
dexp and dexpInv for Point2 and Rot2
2014-04-29 16:18:52 -04:00
bbb76aab95
create VectorValues with all 1.0
2014-04-29 16:18:23 -04:00
dd3c1fd073
important bug fix in building dual graph when finding the variable dimension from its first factor in the factor indices.
2014-04-29 11:49:39 -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
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
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
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
e4f2d39a35
Merge branch 'feature/smartFactors'
2014-04-06 14:43:49 -04:00
c2069a26cd
Merge branch 'feature/LevenbergMarquardt'
2014-04-06 14:35:52 -04:00
2908197f1a
Merge branch 'develop'
2014-04-06 14:35:32 -04:00
08a54ee470
Merge branch 'develop'
2014-04-06 14:28:09 -04:00
bfff17fd05
Merge branch 'origin/feature/LevenbergMarquardt'
2014-04-06 14:26:54 -04:00
310fce3be9
last updates from smartFactors project (these files are now removed from that project)
2014-04-06 14:25:46 -04:00
e98b90bd2a
Make building of metis/partition optional via cmake flag
2014-04-04 15:49:04 -04:00
51248072f9
fixed bug in hessianDiagonal (raw access)
2014-04-03 17:50:52 -04:00
49c11e8fa7
Remove warning flag
2014-04-03 16:35:10 -04:00
268bc189ce
Detect clang to prevent issues with llvm
2014-04-03 16:31:55 -04:00
cb3cec3789
Replaced static variable counter inside ISAM2 update() with a member variable to avoid a bug where if multiple instances of ISAM2 are running in the same process, the counter gets incremented in each of them, resulting in very difficult to debug failures.
2014-03-27 16:15:29 -04:00
02fc860d9e
add smartfactor base classes, smartProjectionPoseFactor, and its unit test to gtsam_unstable
2014-03-27 13:14:13 -04:00
9860c8452e
Merge branch 'develop'
2014-03-26 17:26:10 -04:00
6edd3f10fc
added raw memory access version of hessianDiagonal
2014-03-19 17:43:20 -04:00
178b7f29da
clang warnings
2014-03-17 21:56:50 -04:00
d2b6b12bba
added raw memory access of hessianDiagonal
2014-03-17 19:28:49 -04:00
f65fc11801
completed print function
2014-03-17 19:06:35 -04:00
727679ea1d
Merge branch 'feature/LevenbergMarquardt'
2014-03-17 15:58:31 -04:00
17fef90eaf
Merge branch 'develop'
2014-03-17 15:54:46 -04:00
c5c1460081
silence two more metis warnings
2014-03-17 15:49:14 -04:00
5f8f38a8e0
when relative decrease is small and positive, the step is applied before termination
2014-03-17 14:20:41 -04:00
3ee404a5a6
removed unused parameters. cleaned up hard-coded parameters
2014-03-17 14:12:04 -04:00
9ffc928536
Correct signed vs unsigned comparison warnings
2014-03-17 12:07:54 -04:00
719592258b
Remove unused variable
2014-03-17 12:04:40 -04:00
da09c31c7b
Supress metis warnings for gcc
2014-03-17 11:59:13 -04:00
8e848946ab
Default build executables to off
2014-03-17 11:46:07 -04:00
thduynguyen
Luca
Andrew Melim
Alex Cunningham
jing
cbeall3