Frank Dellaert
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d9c185498e
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combined a few arithmetic tests
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2010-03-01 01:38:26 +00:00 |
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Frank Dellaert
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4cb59438f7
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documentation
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2010-03-01 01:37:50 +00:00 |
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Frank Dellaert
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619190a818
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new-style combined unrotate
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2010-03-01 01:36:27 +00:00 |
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Frank Dellaert
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20ad08e48f
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new Pose3 derivatives still don't work :-(
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2010-03-01 01:35:33 +00:00 |
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Frank Dellaert
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b943644ddd
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re-factored so corresponds to math.lyx
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2010-03-01 01:33:45 +00:00 |
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Frank Dellaert
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6e03783465
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negation
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2010-03-01 01:30:15 +00:00 |
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Frank Dellaert
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58f50ee10b
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Derivative of Rot3.rotate now verified with fancy math :-)
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2010-02-28 22:27:55 +00:00 |
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Frank Dellaert
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03e8641a61
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Derivatives of group actions, in progress
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2010-02-28 20:31:12 +00:00 |
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Frank Dellaert
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28f4493a2b
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Now uses Adjoint map for derivatives of inverse/compose/between, see doc/math.pdf
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2010-02-28 09:10:39 +00:00 |
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Frank Dellaert
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98aa08bcd0
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Re-use memory
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2010-02-28 09:09:37 +00:00 |
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Frank Dellaert
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85784400c6
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prototype object map
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2010-02-28 09:09:12 +00:00 |
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Frank Dellaert
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dcfe52dae7
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some renaming of variables
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2010-02-28 09:08:47 +00:00 |
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Frank Dellaert
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725dd55295
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Fairly extensive treatment of the Lie groups we care about and the relevant derivatives.
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2010-02-28 09:08:21 +00:00 |
Kai Ni
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b58f7b8ea7
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the derivative for transform_from
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2010-02-28 08:51:43 +00:00 |
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Kai Ni
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d894e23a06
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assert_equal for a list of matrices
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2010-02-28 00:48:42 +00:00 |
Manohar Paluri
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4604cbce05
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svd now handles m < n cases. Added unit tests to verify this. But svd in place will throw an exception for such cases.
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2010-02-27 18:23:34 +00:00 |
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Frank Dellaert
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5e00c58ea7
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Baker–Campbell–Hausdorff formula: in non-commutative Lie groups, when composing exp(Z) = exp(X)exp(Y) it is not true that Z = X+Y. Instead, Z can be calculated using the BCH formula:
Z = X + Y + [X,Y]/2 + [X-Y,[X,Y]]/12 - [Y,[X,[X,Y]]]/24 + ...
See http://en.wikipedia.org/wiki/Baker–Campbell–Hausdorff_formula
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2010-02-27 14:58:54 +00:00 |
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Kai Ni
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67b4834bdb
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someone forgot to return it
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2010-02-27 00:04:51 +00:00 |
Viorela Ila
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b6599ebdce
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readst the tree files
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2010-02-26 22:23:00 +00:00 |
justinca
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9941b28128
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Fix matrix inverse square root so it, once again, returns an upper triangular matrix
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2010-02-26 18:53:41 +00:00 |
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Manohar Paluri
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940202226b
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added #pragma
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2010-02-26 14:45:17 +00:00 |
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Frank Dellaert
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d21ff82d21
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Kruskal skeleton
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2010-02-26 13:31:38 +00:00 |
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Kai Ni
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87c8465315
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the beautiful Jacobian of compose in pose2
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2010-02-26 10:55:41 +00:00 |
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Frank Dellaert
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c40760485d
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I think we might have a problem: is expmap<Pose2> correct? Uncomment the new test in testPose2. It does not match what is said in http://www.cis.upenn.edu/~cis610/cis610lie1.ps.
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2010-02-26 06:00:58 +00:00 |
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Frank Dellaert
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0004d90feb
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formatting only
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2010-02-26 05:30:02 +00:00 |
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Frank Dellaert
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38ed1a5cdd
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more compulsive checking, more efficient removing
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2010-02-26 05:29:45 +00:00 |
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Kai Ni
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73848d9e0e
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added comments to make people realize it is for the matlab wrapper not actually c++ implementation
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2010-02-26 05:05:05 +00:00 |
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Kai Ni
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7e8aa6e6b9
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add unit test for the constructor
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2010-02-26 05:04:03 +00:00 |
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Frank Dellaert
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5e97d07f5e
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*it is already the right type
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2010-02-26 04:03:56 +00:00 |
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Frank Dellaert
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0a33b50554
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use Matrix.resize
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2010-02-26 04:03:31 +00:00 |
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Frank Dellaert
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17bd59ec80
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only call alpha calls if CBLAS version will be called.
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2010-02-26 03:23:48 +00:00 |
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Frank Dellaert
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044ea1348d
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Modernized/refactored, esp. with regards to map insert and iterating.
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2010-02-26 03:20:15 +00:00 |
Alex Cunningham
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6efac9d549
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Adding blas autotools macro
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2010-02-25 23:32:38 +00:00 |
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Alex Cunningham
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9d704bb977
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Added flag to default Factorization for old or new elimination, defaulting to old code.
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2010-02-25 21:07:35 +00:00 |
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Alex Cunningham
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5b60511505
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Reverted default elimination code to older implementation - use switch in optimize() or eliminate() to use newer code.
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2010-02-25 20:43:59 +00:00 |
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Kai Ni
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c56ee9ea0d
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added a new constructor that takes a list
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2010-02-25 08:16:33 +00:00 |
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Alex Cunningham
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74787df3fc
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Added ability to insert whole configs at a time to LieConfig and TupleConfig
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2010-02-25 02:50:01 +00:00 |
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Frank Dellaert
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93a3f48920
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Created patch to camera homography function with Duy
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2010-02-25 00:05:27 +00:00 |
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Alex Cunningham
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9955ea20bd
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Added pure cblas implementation of multiplyAdd functions. This does not have autotools support yet, so to enable, goto cpp/Makefile.am, comment out the block concerning GSL/ATLAS, and uncomment the above section enabling just blas.
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2010-02-24 18:12:48 +00:00 |
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Alex Cunningham
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f8c4e1fe27
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Fixed bug in unit test causing crashes, altered corner case test for column insertion
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2010-02-24 18:09:15 +00:00 |
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Alex Cunningham
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022f706d94
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Changed default elimination algorithm to newer one with fewer matrix allocations to solve crashing bug from LM discovered in MAST
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2010-02-24 14:19:52 +00:00 |
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Frank Dellaert
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04f7bbf253
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use vector_scale_inplace
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2010-02-24 06:15:06 +00:00 |
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Frank Dellaert
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696be0d0c1
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RETURN CONST REFERENCES WHERE YOU CAN and some inlining
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2010-02-24 06:14:43 +00:00 |
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Frank Dellaert
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dd9446993a
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5-fold performance improvement in combined between function
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2010-02-24 06:14:02 +00:00 |
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Frank Dellaert
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51281ea78f
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in-place colamd
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2010-02-24 06:13:11 +00:00 |
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Frank Dellaert
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71089a6354
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vector_scale_inplace
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2010-02-24 06:12:56 +00:00 |
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Frank Dellaert
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c1f50a0637
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fixed noise model, removed istringstream and getline in favor of ignore
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2010-02-24 06:11:52 +00:00 |
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Kai Ni
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547427514f
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add save functions for Matrix and Vector to save them to disk
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2010-02-24 00:12:10 +00:00 |
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Alex Cunningham
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ac41ee7215
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Added a test in GaussianFactor to demo a problem found in MAST where eliminating a single factor with two priors causes a memory corruption error. To run the test and see the error, go to the last test in testGaussianFactor called "exploding_MAST_factor" and uncomment the indicated line.
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2010-02-23 18:41:07 +00:00 |
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Alex Cunningham
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a2310b4eab
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Fixed small error in NonlinearConstraint and added note explaining why nonlinear constraints do not use a constrained noisemodel in the nonlinear sense.
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2010-02-23 18:37:17 +00:00 |