dellaert
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d098efca6f
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Restored .cproject file with all targets intact
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2014-10-06 10:30:30 +02:00 |
Sungtae An
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69f74014aa
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add traceExecution in TernaryExpression
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2014-10-05 17:40:11 -04:00 |
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Sungtae An
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cc3c0fcfec
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add trace structure for reverse AD in TernaryExpression
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2014-10-05 17:38:09 -04:00 |
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Sungtae An
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0421d05d44
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add forward() in TernaryExpression
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2014-10-05 17:36:53 -04:00 |
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Sungtae An
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0a7db2d252
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Merge remote-tracking branch 'origin/feature/BAD' into feature/BAD
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2014-10-05 16:16:19 -04:00 |
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Sungtae An
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40565564f5
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TernaryExpression is added
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2014-10-05 16:09:24 -04:00 |
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dellaert
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16d402f8c9
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Merge branch 'feature/BAD_JacobianMap' into feature/BAD
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2014-10-05 21:54:02 +02:00 |
|
dellaert
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632810ff9a
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Now only inline add, for performance
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2014-10-05 21:53:40 +02:00 |
|
dellaert
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33c1d072a4
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Add switch between inline add and JacobianMap as a new class.
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2014-10-05 21:49:30 +02:00 |
|
dellaert
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5b13306104
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Split out starting the AD process vs. propagating it, is more efficient than starting with a useless identity matrix
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2014-10-05 19:27:52 +02:00 |
|
dellaert
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ff9dd8eb8d
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Removed some obsolete code
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2014-10-05 19:09:16 +02:00 |
|
dellaert
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824cb1deb1
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Merge branch 'feature/BAD_Trace' into feature/BAD
Implemented reverse AD by creating a tree-structured execution Trace, after which the Jacobains are computed in top-down fashion
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2014-10-05 19:00:17 +02:00 |
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dellaert
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caf742d5e1
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Better names
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2014-10-05 17:20:55 +02:00 |
|
dellaert
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001504a432
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JacobianTrace base, and avoid copying JacobianMaps.
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2014-10-05 17:12:38 +02:00 |
|
dellaert
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2718662467
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Removed debug printing
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2014-10-05 15:01:36 +02:00 |
|
dellaert
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fdf9c10b42
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Implemented value and now testBADFactor also runs
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2014-10-05 15:00:10 +02:00 |
|
dellaert
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8db2cd17fc
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Finished constant Trace and *everything* just works!!! Amazing :-)
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2014-10-05 13:41:20 +02:00 |
|
dellaert
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7c19542245
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Leaf Trace compiles
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2014-10-05 13:37:51 +02:00 |
|
dellaert
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75445307b2
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Unary Trace done
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2014-10-05 13:33:23 +02:00 |
|
dellaert
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8e527a2251
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Binary Trace compiles, runs
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2014-10-05 13:27:41 +02:00 |
|
dellaert
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303d37a716
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Separate hierarchy
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2014-10-05 11:22:14 +02:00 |
|
dellaert
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6fb10a5de9
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Rename, emphasizing is forward AD
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2014-10-03 21:13:34 +02:00 |
|
dellaert
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3f017bf51f
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An optimized version
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2014-10-03 14:35:39 +02:00 |
|
dellaert
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c20b588fe0
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timing, is pretty bleak for Expressions
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2014-10-03 14:19:23 +02:00 |
|
dellaert
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a5b92f0342
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MUCH simpler by just using boost::bind to turn methods into functions
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2014-10-03 13:18:25 +02:00 |
|
dellaert
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bdf5451565
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Typedefs
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2014-10-03 12:52:35 +02:00 |
|
dellaert
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c8dd361080
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Common base class BinaryExpression
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2014-10-03 12:48:28 +02:00 |
|
dellaert
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987b123ec9
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NullaryMethodExpression and UnaryFunctionExpression, derived from UnaryExpression
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2014-10-03 12:40:26 +02:00 |
|
dellaert
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e061143095
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norm derivatives
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2014-10-03 11:38:38 +02:00 |
|
dellaert
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aefad1e548
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MAJOR refactor: I now use separate functions for value (only) and "augmented", for combined value-derivatives. The latter returns a new templated class, Augmented<T>.
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2014-10-03 10:25:02 +02:00 |
|
dellaert
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da4cfe6fdc
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ternary test
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2014-10-02 23:39:17 +02:00 |
|
dellaert
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59af1c4b6d
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Major refactor that does not ask for derivatives when argument is constant. Also split combine into double add, added print, and moved those two statics to ExpressionNode.
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2014-10-02 23:28:19 +02:00 |
|
dellaert
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166396d6f6
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Added tests with constant Expression
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2014-10-02 23:26:59 +02:00 |
|
dellaert
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e7e7b3806f
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New test with constant argument
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2014-10-02 20:28:37 +02:00 |
|
dellaert
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d5709facf6
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Added Pose2SLAMExample
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2014-10-02 20:20:00 +02:00 |
|
dellaert
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8f856ceaf8
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Renamed
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2014-10-02 20:19:49 +02:00 |
|
dellaert
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df17758469
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Assume H pre-allocated as usual, and *move* Jacobians to avoid allocations
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2014-10-02 13:30:16 +02:00 |
|
dellaert
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0800b83285
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Slight efficiencies
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2014-10-02 11:44:16 +02:00 |
|
dellaert
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bef23a2008
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ExpressionExample now only uses BADFactors and yields same result as SFMExample
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2014-10-02 11:21:24 +02:00 |
|
dellaert
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ebb091d390
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BadFactor is now a functioning NoiseModelFactor
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2014-10-02 11:01:39 +02:00 |
|
dellaert
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8a196eb86e
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A zero noiseModel_ never worked for NoiseModelFactor, regularizing this by explicit check
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2014-10-02 11:01:14 +02:00 |
|
dellaert
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1dddb4046a
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Comment only
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2014-10-02 09:44:29 +02:00 |
|
dellaert
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3f5aa0f23e
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Expression version of SFMExample (in progress)
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2014-10-01 14:10:54 +02:00 |
|
dellaert
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2d76f200ce
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Fixed compile error
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2014-10-01 14:10:27 +02:00 |
|
dellaert
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c01c756d69
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Created implementation file for NonlinearFactor and moved non-templated code there
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2014-10-01 13:14:55 +02:00 |
|
dellaert
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ce53346a9e
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Added Symbol versions
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2014-10-01 13:12:07 +02:00 |
|
dellaert
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0d94eeb480
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Created expressions.h header
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2014-10-01 11:25:49 +02:00 |
|
dellaert
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254f8c5f75
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Possible naming convention
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2014-10-01 11:01:38 +02:00 |
|
dellaert
|
a6c1ba19cc
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Concise version
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2014-10-01 10:53:35 +02:00 |
|
dellaert
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d45250a989
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Fixed dim
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2014-10-01 10:45:57 +02:00 |