2f180d1d02
Remove using namespace std from header files
2014-05-05 16:35:22 -04:00
cf77189d71
Start a DEVELOP document and update INSTALL
2014-05-05 14:42:46 -04:00
3b1f947909
Renamed to test
2014-05-05 11:29:02 -04:00
9409357fe7
Works, but is really a test, not an example
2014-05-05 11:26:16 -04:00
f5e0a7f2b1
ignore
2014-05-05 10:15:23 -04:00
0a2385711b
MATLAB wrapping of TSAMFactors
2014-05-05 10:14:56 -04:00
05c1e572b6
Moved TSAMFactors.h from tsam to gtsam
2014-05-05 10:14:36 -04:00
5c420f1aec
added references
2014-05-04 18:16:40 -04:00
0a5690dfb3
Merged in feature/UnifiedProjectionModel (pull request #11 )
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Unified projection model
2014-05-04 15:51:18 -04:00
0704e82190
Fix GCC 4.6+ specific warning
2014-05-03 19:17:52 -04:00
0fc1dc3658
add detailed comments for the new EliminatePreferCholesky
2014-05-03 18:08:33 -04:00
3804057daf
disable two warning options in METIS which are not understood by my clang compiler.
2014-05-03 18:05:55 -04:00
1e3ae3b3d3
Support non positive definite Hessian factors while doing EliminatePreferCholesky with some constrained factors.
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Currently, when eliminating a constrained variable, EliminatePreferCholesky converts every other factors to JacobianFactor before doing the special QR factorization for constrained variables. Unfortunately, after a constrained nonlinear graph is linearized, new hessian factors from constraints, multiplied with the dual variable (-lambda*\hessian{c} terms in the Lagrangian objective function), might become negative definite, thus cannot be converted to JacobianFactors.
Following EliminateCholesky, this version of EliminatePreferCholesky for constrained var gathers all unconstrained factors into a big joint HessianFactor before converting it into a JacobianFactor to be eliminiated by QR together with the other constrained factors.
Of course, this might not solve the non-positive-definite problem entirely, because (1) the original hessian factors might be non-positive definite and (2) large strange value of lambdas might cause the joint factor non-positive definite [is this true?]. But at least, this will help in typical cases.
2014-05-03 18:04:37 -04:00
2daeae2438
GeographicLib now works on Windows
2014-05-03 17:26:07 -04:00
f27cb3f317
few style bugs fixed
2014-05-03 17:04:07 -04:00
219b2b4db7
Updated to 3.0
2014-05-03 15:50:38 -04:00
a6ae176a54
Upgraded to GeographicLib 1.35
2014-05-03 14:44:39 -04:00
46859474cb
Fix warning
2014-05-03 12:55:51 -04:00
92c9e9c0aa
Fixed "unused" warnings
2014-05-03 12:23:49 -04:00
1ed07ca4ed
Moved to unstable
2014-05-03 12:23:20 -04:00
267b86ec14
Remove svd inverse_square_root
2014-05-03 11:54:01 -04:00
312d3fac1e
ignore /doc*
2014-05-03 11:53:10 -04:00
e8a4767591
cleaned code to log LM iterations
2014-05-02 16:10:51 -04:00
9f499d2257
fixed key in unit test
2014-05-02 16:05:08 -04:00
c1650f72fd
added comments
2014-05-02 15:23:19 -04:00
f1fb2c09a4
bug fix in LM
2014-05-02 15:01:42 -04:00
5402f9fa20
Removed smartProjectionPoseFactor from matlab wrapper; it was causing matlab crashes
2014-05-02 11:12:10 -04:00
fc1f5ff6a8
unittest for QPSolver without initial point
2014-05-02 10:27:05 -04:00
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
8dbd7c175c
added SmartProjectionFactor to matlab wrapper
2014-05-01 15:55:37 -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
ce13807d10
added script to run and save tests in a simplified way
2014-05-01 12:56:24 -04:00
d8121a25bb
Trivial change, but VS 2012 was choking on this in release mode.
2014-05-01 12:53:05 -04:00
32e1a8f994
tried some changes for wrapping
2014-05-01 10:48:54 -04:00
2b20d61221
Wrapped measured() for BearingRangeFactor.
2014-04-30 22:32:59 -04:00
b82524882c
Fix typo in conditional in SymmetricBlockMatrix, fixes #75
2014-04-30 18:21:00 -07:00
2cb448fa24
adding SmartProjectionPoseFactor to wrapper
2014-04-30 16:17:32 -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
862f5c7af3
changed timestep to make IMU measurements more realistic. removed noise model from IMU type 2 constructor
2014-04-29 15:46:43 -04:00
4ad4f9d68e
removed unnecessary parameter from constructor
2014-04-29 15:13:28 -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
15201bda0f
fixed landmark key
2014-04-28 13:16:25 -04:00
5391de77e0
working on IMU biases
2014-04-24 17:01:08 -04:00
a077dadc99
added new constructor to CombinedImuFactor in matlab wrapper
2014-04-24 15:52:11 -04:00
870a20396f
Merge branch 'feature/smartFactors' of https://bitbucket.org/gtborg/gtsam into feature/smartFactors
2014-04-24 12:06:22 -04:00
cbeall3
dellaert
Luca
Frank Dellaert
thduynguyen
jing
djensen3
Vadim Indelman
Richard Roberts
Zsolt Kira