d2f56b13ed
Non-trivial noise models now correctly handled (at a small performance penalty, due to malloc of Vector b).
2014-11-02 14:37:52 +01:00
8a6d8bfc82
Back to single
2014-11-02 14:35:32 +01:00
d0e004c05f
No this-> needed
2014-11-02 14:35:22 +01:00
90a0fa6e45
Check if active
2014-11-02 13:53:22 +01:00
a8ab910c32
Merged twio changes in: the is_constrained() flag that does away with the dynamic cast, and the changes duy made in commit a61b49d to remove the constrained noise model hack. At the same time, both linearize methods (in expressionFactor and NonlinearFactor) now make use of is_constrained().
2014-11-02 13:45:54 +01:00
b21db08ec1
Fixed small issue, should not assign to reference in case of Quaternions.
2014-11-02 13:03:36 +01:00
d4dcf90bd1
SUPERFAST linearize, by pre-allocating the JacobianFactor and writing into it.
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Merging local branch 'feature/BAD_WriteableJacobianFactor' into feature/BAD
2014-11-02 13:00:08 +01:00
049631e530
Avoid re-allocating vertical offsets
2014-11-02 12:57:13 +01:00
b9e3c3b116
Made unsafe constructor private, but made ExpressionFactor<T> a friend.
2014-11-02 12:01:52 +01:00
cb69f2cb82
Fastest linearize so far. Putting 'unsafe' constructor in JacobianFactor itself makes a *huge* difference.
2014-11-02 11:40:48 +01:00
a1c6c3cbe5
Merged in feature/BAD_VerticalBlockMatrix (pull request #29 )
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Straight copy into VerticalBlockMatrix
2014-11-01 19:26:14 +01:00
95e59d7c5d
Fixed the last failing unit test
2014-11-01 19:23:07 +01:00
7aaf4dae8c
Merge remote-tracking branch 'origin/feature/BAD_VerticalBlockMatrix' into feature/BAD_WriteableJacobianFactor
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Conflicts:
gtsam_unstable/nonlinear/ExpressionFactor.h
2014-11-01 17:45:23 +01:00
7debde7518
Moved to ExpressionFactor that now uses it - timing seems worse ?
2014-11-01 15:12:06 +01:00
12e38a44e4
WriteableJacobianFactor will allow ExpressionFactor to write into the factor directly, (hopefull) eliminating huge overhead.
2014-11-01 14:13:08 +01:00
a4fa61a7a4
Removed JacobianMap tests
2014-11-01 11:56:38 +01:00
f38b0b0eed
Fixed unwhitenedError
2014-11-01 11:50:28 +01:00
15ab2b27bc
Fixed one unit test
2014-11-01 11:47:56 +01:00
7b539fbb5c
Make JacobianMap a wrapper around a VerticalBlockMatrix, which avoids us having to make a vector of references into it
2014-11-01 11:35:49 +01:00
8e7864dc96
Merged in feature/BAD_vector (pull request #28 )
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Changed the type of JacobianMap as std::vector
2014-10-31 16:29:35 +01:00
593edd1e5c
Fixed asserts
2014-10-31 16:29:15 +01:00
d0c3bc0c8e
Fixed tests
2014-10-31 16:27:54 +01:00
768a4abc05
Does not need lambda
2014-10-31 16:27:46 +01:00
a5b8d0fd35
Modified finding method
2014-10-31 11:06:26 -04:00
5e51745b86
debugging serialization of ChartValues
2014-10-31 14:21:02 +01:00
f5c6ccca17
Changed size (because transpose_) was removed
2014-10-31 13:48:39 +01:00
6a20d35a60
Modified pointer expression
2014-10-31 07:28:07 -04:00
133fcf20e2
Cleaned up some commented codes
2014-10-31 07:22:19 -04:00
97d4120858
Changed the type of JacobianMap as std::vector
2014-10-31 07:10:53 -04:00
699153ece9
Coding convention: convert tabs to two spaces
2014-10-30 12:44:46 -04:00
003224ac3f
fixing serialization code when class has no base
2014-10-30 17:21:24 +01:00
7d8ba565e5
Adapted ChartValue so that it can wrap a value to be passed to ExpressionFactor
2014-10-30 15:59:28 +01:00
57b4c79cad
minor doxygen fixes
2014-10-29 13:58:46 -04:00
18ad04970a
Merged in feature/BAD_generic_value_traits_no_cpp11 (pull request #27 )
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reclaced std::type_traits with boost::type_traits
2014-10-29 11:00:50 +01:00
2788ec7f33
removed std::type_traits which is c++11
2014-10-29 10:23:13 +01:00
ef23309c84
Merged in feature/BAD_generic_chart_value (pull request #26 )
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Generic Chart Values
2014-10-28 23:56:15 +01:00
f8183acd87
I should have remembered to compile and check before committing.
2014-10-28 17:37:45 +01:00
82f6ed5ca8
inserted spaces after commas
2014-10-28 14:15:34 +01:00
80187362b8
attemping to expose ChartValue for expressions with non DefaultCharts, but needs testing
2014-10-28 11:20:02 +01:00
ab76a306b7
using dynamic_cast to check base class typeid
2014-10-28 08:54:41 +01:00
bc094951ed
all values in Values container are now a ChartValue<ValueType, Chart=DefaultChart<ValueType> >
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ChartValues are GenericValues and a Chart, which defaults to DefaultChart
had to make charts functional (ie no storage of the chart origin) so that they could be zero sized base class
otherwise there would have been a double of the memory for values (ones for the value, and once for the chart origin, which default to the same)
most tests work, execept for serialization based stuff, and const filtering of values.
2014-10-28 00:57:44 +01:00
fdaaf4c558
Add intermediate file for round-trip dataset test to ignore
2014-10-25 20:20:35 -04:00
f833472898
Remove intermediate file for dataset I/O test
2014-10-25 20:18:55 -04:00
9ef8980362
using static_cast in GenericValue's virtual functions
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should be more efficient, but perhaps will crash instead of throwing an exception when the Value& derived class doesn't match.
2014-10-25 22:23:26 +02:00
c2cdd21a7a
added cast<ValueType> function to Value
2014-10-25 12:18:12 +02:00
60ebd9cb4e
rename simple namespace to avoid clash on Windows
2014-10-25 06:01:20 -04:00
f19cb3e677
Change expected error value back to negative, as it was (accidentally?) flipped after recent pull request , which didn't pass. The negative value, which I believe to be correct, passes in Quaternion mode, Full Expmap mode, as well as regular rotation matrix mode (with a lesser tolerance.)
2014-10-25 01:08:59 -04:00
4a3dc51f85
more tests work, except for serialization based tests
2014-10-24 23:47:02 +02:00
5b2a61682d
tests compiling, but many fail
2014-10-24 22:38:03 +02:00
f916531492
remove typename from non-templated class
2014-10-24 13:06:45 -04:00
dellaert
Paul Furgale
Sungtae An
Mike Bosse
cbeall3
Renaud Dube
Michael Bosse
gawela