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395 Commits (ce5d7090328a1c3e54345656e5c2ce9b604d94e2)

Author SHA1 Message Date
Alex Cunningham 7aa45115a1 Replaced depreciated boost::shared_dynamic_cast with boost::dynamic_pointer_cast to work with boost 1.53 2013-02-11 20:24:53 +00:00
Duy-Nguyen Ta 6eafc9420e update namespace mEstimator for unittests 2013-02-08 00:47:52 +00:00
Richard Roberts 013705232c Maintain reverse-lookup inside of Ordering, to allow fast partial permutations, and modified iSAM2 to use partial permutations on Ordering. Removed InvertedOrdering and updated other GTSAM code and unit tests to use the Ordering reverse-lookup function "key" instead of calculating and inverse ordering. 2013-01-08 23:31:06 +00:00
Richard Roberts c42bccbb3e Increased chain length in timeiSAM2Chain 2012-12-18 14:21:49 +00:00
Richard Roberts 4e7393cc08 Added timing test for a long chain in iSAM2 2012-12-18 14:21:12 +00:00
Richard Roberts 7309aa0ffa Unit tests pass with piecewise VectorValues implementation (for fast permutations) 2012-12-18 14:21:02 +00:00
Richard Roberts bd285fbb52 Merge remote-tracking branch 'svn/trunk' into isam2-chain-optimization 
Conflicts:
	gtsam/linear/HessianFactor.cpp
	gtsam/linear/VectorValues.cpp
 2012-12-18 14:20:31 +00:00
Richard Roberts 5b9271cb97 VV work 2012-11-23 23:22:53 +00:00
Richard Roberts aba48e4492 Commented out serialization in timeIncremental 2012-11-14 00:55:31 +00:00
Richard Roberts 0c3761a2a9 Reverted r14178, r14179, r14195, r14196 (isam2 chain optimizations) to move them to a branch 2012-11-11 20:51:03 +00:00
Yong-Dian Jian 43778a6ed3 --update the distance() of robust noise model 
--add a nonlinear optimization unit test using robust noise model
 2012-11-06 22:42:01 +00:00
Richard Roberts 43f08ce806 Increased chain length in timeiSAM2Chain 2012-11-05 01:04:16 +00:00
Richard Roberts 10f69cfca0 Added timing test for a long chain in iSAM2 2012-11-02 22:07:30 +00:00
Richard Roberts 46c1d0c512 Added joint marginal timing to timeIncremental script 2012-10-31 22:27:36 +00:00
Richard Roberts 4d4e17c2a7 Joint marginals using lowest-common-ancestor shortcuts. As part of this commit, caching of shortcuts is removed, the BayesTreeCliqueBase::marginal function computing single-variable shortcut marginals is removed, and the factor/frontal size checks in symbolic and discrete elimination are modified to permit eliminating empty factors or zero frontal variables. 2012-10-28 06:21:21 +00:00
Richard Roberts 279738c56f Renamed unit tests to match file name 2012-10-28 06:21:17 +00:00
Richard Roberts 920bb52453 Moved eliminate and eliminateOne from inference to FactorGraph 2012-10-22 17:49:41 +00:00
Richard Roberts 656080ad2f Fixed warning 2012-10-08 23:58:57 +00:00
Richard Roberts 3218a7bca4 Added missing main function 2012-10-08 23:03:02 +00:00
Richard Roberts 9793f8b7f7 Finalized batch and incremental timing scripts 2012-10-08 22:40:47 +00:00
Richard Roberts f3a2887af1 Moved GaussianBayesTree tests into their own file, out of testGaussianISAM 2012-10-08 22:40:40 +00:00
Richard Roberts b60189104c Added checks for proper noise model dimension 2012-10-05 23:23:40 +00:00
Alex Cunningham 054c326e3c Added tests related to determining why non-unit sigmas were occurring in bayes tree - solution: Vector_() is dangerous 2012-10-04 20:23:45 +00:00
Richard Roberts 89b50e7679 Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc 2012-10-02 20:18:41 +00:00
Richard Roberts c44f8f7f80 Fixed examples from timing statement change (missed) 2012-10-02 18:49:48 +00:00
Richard Roberts 4876cc7ff7 Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list) 2012-10-02 18:36:39 +00:00
Chris Beall 4297d24c96 changed tabs to spaces for consistent indentation in all of GTSAM 2012-10-02 14:40:07 +00:00
Richard Roberts 96ce28625b Timing marginals in timeIncremental 2012-10-01 16:12:43 +00:00
Richard Roberts 784e9f5755 Added overall timing scripts for batch and incremental (ISAM2) solving 2012-09-28 17:48:49 +00:00
Frank Dellaert aeb43bc8fc Used technique described in http://gcc.gnu.org/onlinedocs/gcc/Diagnostic-Pragmas.html to turn off excessive warnings generated by boost lambda headers 2012-09-16 18:07:50 +00:00
Frank Dellaert 89cd600165 avoid warnings 2012-09-16 17:54:43 +00:00
Frank Dellaert 7266293a61 Cleaned up some remaining JacobinaFactorGraph remnants 2012-09-05 03:52:01 +00:00
Frank Dellaert c4c5dec9a3 Fixed testIterative unit tests 2012-09-05 03:06:22 +00:00
Richard Roberts b0508cc1a8 Removed JacobianFactorGraph - moved its linear algebra interface to GaussianFactorGraph and redirected all uses of it to GaussianFactorGraph 2012-09-04 22:42:09 +00:00
Frank Dellaert c55f4be0d1 Comments added 2012-09-04 22:20:40 +00:00
Richard Roberts 73f8c0830b Created new dense matrix functions in GaussianFactorGraph returning pair<Matrix,Vector> for easier access, and renamed functions to augmentedJacobian, augmentedHessian, jacobian, hessian 2012-09-04 15:05:57 +00:00
Richard Roberts abd07e553e Made new global functions in unit tests static to avoid duplicate symbols 2012-09-04 15:05:55 +00:00
Yong-Dian Jian af652b0e04 remove simpleSPCG 
reorg SubgraphSolver
add unit test for SubgraphSolver
 2012-09-03 19:43:08 +00:00
Richard Roberts 9497a233ce Cleaned up all remaining commented-out unit tests from the old linear rewrite - removed or reenabled as needed. 2012-09-03 18:36:05 +00:00
Frank Dellaert 35d188e36d Moved testIterative.cpp back to GTSAM, made the first test compile/run 2012-09-03 18:01:24 +00:00
Richard Roberts b6150bd27e Removed deprecated unit tests from testGaussianFactorGraphB and moved SPCG-specific ones to testGraph and testJacobianFactorGraph 2012-09-03 18:00:26 +00:00
Frank Dellaert ab7594e8f0 Made SPCG unit tests compile again, needed several fixes in iterative.h 2012-09-03 00:06:13 +00:00
Richard Roberts 3e93c488e5 Removed extra code that was sometimes maintaining a staircase pattern in JacobianFactor by sorting rows - a holdover from the staircase optimization that is no longer done now that we are using Eigen's QR 2012-08-27 22:29:56 +00:00
Richard Roberts af48d086ed Fixed missing renames 2012-07-27 19:15:58 +00:00
Richard Roberts 5177f31a5d Merge remote-tracking branch 'svn/trunk' into remove_slam_namespaces 
Conflicts:
	gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
	matlab/examples/Pose2SLAMExample_circle.m
	matlab/examples/Pose2SLAMExample_graph.m
	matlab/examples/StereoVOExample_large.m
	tests/testGradientDescentOptimizer.cpp
 2012-07-27 19:01:43 +00:00
Stephen Williams 7fc6a622bf Added additional factors to the serialization unit test 2012-07-25 22:13:22 +00:00
Yong-Dian Jian 168ddf5457 add Cal3DS2.calibrate() with fixed point iteration 
reorg nonlinear conjugate gradient solvers
wrapper for the linear solvers
 2012-07-24 21:06:33 +00:00
Stephen Williams 592fa95d66 Fixed serialization for LieVector and LieMatrix 2012-07-24 14:50:01 +00:00
Stephen Williams c2daf40c5d Removed SLAM namespaces from testSerializationSLAM. Instead of testing each SLAM namespace individually, a single test was created that instanciates all variable-factor combinations. However, there is currently an issue with LieVector that should be resolved. 2012-07-23 22:50:21 +00:00
Stephen Williams 01bcd9e939 Removed SLAM namespace from testNonlinearOptimizer 2012-07-23 22:47:31 +00:00