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6730 Commits (d00a5b19ab0be0b460f07f4cee44c43e84320deb)

Author SHA1 Message Date
dellaert dce8a6c341 Improved error message 2014-11-04 15:43:32 +01:00
dellaert 4afe132b1a Fixed dimensions of Vectors 2014-11-04 15:41:14 +01:00
dellaert 8b86626113 Added test 2014-11-04 14:27:55 +01:00
dellaert d06de2f044 Reverted to LieScalar until Prior and Between factors fixed 2014-11-04 14:26:50 +01:00
dellaert 9b0298d148 Allow for empty noiseModel_ again (although, dim breaks) 2014-11-04 14:26:25 +01:00
dellaert da3677e704 No more LieVector/LieScalar 2014-11-03 13:52:08 +01:00
dellaert f1dd554a9d No more LieVector (too much copy/paste here) 2014-11-03 13:38:25 +01:00
dellaert 2a745b6c26 No more LieVector/LieScalar 2014-11-03 13:32:58 +01:00
dellaert 39ce31d0cc No more LieVector 2014-11-03 13:15:41 +01:00
dellaert c212ba0984 Avoid warnings 2014-11-03 11:50:21 +01:00
dellaert 6a08370a8a Avoid warnings 2014-11-03 11:17:42 +01:00
dellaert 97a8618614 equals and print have to be function objects to do partial specialization to double and Eigen::Matrix. 2014-11-03 11:16:38 +01:00
dellaert b5327673fb Get rid of LieVector 2014-11-03 11:02:15 +01:00
dellaert e2c8e2620b Avoid warnings 2014-11-03 11:01:59 +01:00
dellaert d29a29099b equals and print have to be function objects to do partial specialization to double and Eigen::Matrix. 2014-11-03 11:01:49 +01:00
dellaert 262bb145b6 Merge remote-tracking branch 'origin/feature/BAD' into feature/BAD_noLieXX 
Conflicts:
	gtsam/base/Manifold.h
 2014-11-03 09:57:51 +01:00
dellaert 329e7f1383 Comments, formatting, some TODO questions 2014-11-03 09:55:53 +01:00
dellaert 492c607f9e No more Lie types 2014-11-03 09:27:40 +01:00
dellaert 64d0a3b4dc equals and print for Matrix types 2014-11-03 09:27:05 +01:00
dellaert e0c4d84dd7 Fixed some tests/warnings in quaternion mode 2014-11-03 00:59:19 +01:00
Frank Dellaert ff036ac05c Merged in feature/BAD_generic_value_traits (pull request #24) 
GenericValue to replace DerivedValue
 2014-11-03 00:09:08 +01:00
Mike Bosse 11416cac65 Merge branch 'feature/BAD' into feature/BAD_generic_value_traits 
Conflicts:
	gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
	gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
 2014-11-02 19:00:30 +01:00
dellaert 17d352bab4 Slight re-factor 2014-11-02 14:42:59 +01:00
dellaert 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
dellaert 8a6d8bfc82 Back to single 2014-11-02 14:35:32 +01:00
dellaert d0e004c05f No this-> needed 2014-11-02 14:35:22 +01:00
dellaert 90a0fa6e45 Check if active 2014-11-02 13:53:22 +01:00
dellaert 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
dellaert b21db08ec1 Fixed small issue, should not assign to reference in case of Quaternions. 2014-11-02 13:03:36 +01:00
dellaert d4dcf90bd1 SUPERFAST linearize, by pre-allocating the JacobianFactor and writing into it. 
Merging local branch 'feature/BAD_WriteableJacobianFactor' into feature/BAD
 2014-11-02 13:00:08 +01:00
dellaert 049631e530 Avoid re-allocating vertical offsets 2014-11-02 12:57:13 +01:00
dellaert b9e3c3b116 Made unsafe constructor private, but made ExpressionFactor<T> a friend. 2014-11-02 12:01:52 +01:00
dellaert cb69f2cb82 Fastest linearize so far. Putting 'unsafe' constructor in JacobianFactor itself makes a *huge* difference. 2014-11-02 11:40:48 +01:00
Frank Dellaert a1c6c3cbe5 Merged in feature/BAD_VerticalBlockMatrix (pull request #29) 
Straight copy into VerticalBlockMatrix
 2014-11-01 19:26:14 +01:00
Paul Furgale 95e59d7c5d Fixed the last failing unit test 2014-11-01 19:23:07 +01:00
dellaert 7aaf4dae8c Merge remote-tracking branch 'origin/feature/BAD_VerticalBlockMatrix' into feature/BAD_WriteableJacobianFactor 
Conflicts:
	gtsam_unstable/nonlinear/ExpressionFactor.h
 2014-11-01 17:45:23 +01:00
dellaert 7debde7518 Moved to ExpressionFactor that now uses it - timing seems worse ? 2014-11-01 15:12:06 +01:00
dellaert 12e38a44e4 WriteableJacobianFactor will allow ExpressionFactor to write into the factor directly, (hopefull) eliminating huge overhead. 2014-11-01 14:13:08 +01:00
dellaert a4fa61a7a4 Removed JacobianMap tests 2014-11-01 11:56:38 +01:00
dellaert f38b0b0eed Fixed unwhitenedError 2014-11-01 11:50:28 +01:00
Paul Furgale 15ab2b27bc Fixed one unit test 2014-11-01 11:47:56 +01:00
dellaert 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
Frank Dellaert 8e7864dc96 Merged in feature/BAD_vector (pull request #28) 
Changed the type of JacobianMap as std::vector
 2014-10-31 16:29:35 +01:00
dellaert 593edd1e5c Fixed asserts 2014-10-31 16:29:15 +01:00
dellaert d0c3bc0c8e Fixed tests 2014-10-31 16:27:54 +01:00
dellaert 768a4abc05 Does not need lambda 2014-10-31 16:27:46 +01:00
Sungtae An a5b8d0fd35 Modified finding method 2014-10-31 11:06:26 -04:00
Mike Bosse 5e51745b86 debugging serialization of ChartValues 2014-10-31 14:21:02 +01:00
dellaert f5c6ccca17 Changed size (because transpose_) was removed 2014-10-31 13:48:39 +01:00
Sungtae An 6a20d35a60 Modified pointer expression 2014-10-31 07:28:07 -04:00