Kai Ni
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d0a93ad9dd
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insert bayes net as a clique
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2010-02-13 07:09:27 +00:00 |
Richard Roberts
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4408eaf6f4
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Added FactorGraph::checkGraphConsistency() to check for consistency between the variables->factors and factors->variables maps, and a unit test that tests the replace function including checking consistency.
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2010-02-13 01:29:19 +00:00 |
Alex Cunningham
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f1988513fe
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Fixed bug in print function of TypedLabeledSymbol
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2010-02-10 21:03:49 +00:00 |
|
Alex Cunningham
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dde0626e5c
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Added a constructor for TypedLabeledSymbol from Symbol that decodes the index to split out a label
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2010-02-10 15:27:21 +00:00 |
|
Alex Cunningham
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d0aed559b5
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TypedLabeledSymbols now convert properly to Symbols, so they can be used to add a runtime label to a TypedKey to express "Pose 1 of robot A"
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2010-02-10 14:39:58 +00:00 |
|
Kai Ni
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31999ecb1f
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added 4-way symbolic factor
fixed a bug in the bayes tree to graphviz routine
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2010-02-09 22:59:18 +00:00 |
|
Richard Roberts
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e83b6c3b84
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Normalizing rotation matrix to fix numerical instability when composing many poses
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2010-02-09 22:44:02 +00:00 |
|
Kai Ni
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31fc894a4a
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added 4-way symbolic factor
fixed a bug in the bayes tree to graphviz routine
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2010-02-09 21:32:14 +00:00 |
|
Alex Cunningham
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d2a4bdae3c
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Made simulated2D factors more generic - can now specify key types
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2010-02-09 19:47:39 +00:00 |
|
Alex Cunningham
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8ff64793f1
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Apparently, expmap != exmap. TupleConfigN's are no longer broken now.
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2010-02-09 19:27:28 +00:00 |
|
Alex Cunningham
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942e2b9c6d
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static chr() function for TypedSymbol, and another version of Symbol (don't use)
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2010-02-09 03:59:45 +00:00 |
|
Alex Cunningham
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0c74e0c309
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Ensured that constraints add keys to keys_
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2010-02-09 01:52:36 +00:00 |
|
Alex Cunningham
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8aa440a679
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Fixed the instantiation macros and exmap global functions for TupleConfigN
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2010-02-09 01:24:41 +00:00 |
|
Alex Cunningham
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18d7fcc299
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Added instantiation macros for TupleConfigs and NonlinearConstraints
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2010-02-08 22:29:00 +00:00 |
|
Richard Roberts
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fbef948254
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Bug fix in replace()
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2010-02-08 22:22:38 +00:00 |
|
Richard Roberts
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ea9b44ea15
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Fixed indentation
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2010-02-08 22:21:56 +00:00 |
|
Alex Cunningham
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ed338300a1
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Instantiation script for TupleConfig
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2010-02-08 20:53:18 +00:00 |
|
Alex Cunningham
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ea3b8083b0
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Fixed more tests for NonlinearConstraints, inequality constraints now work.
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2010-02-07 01:18:17 +00:00 |
Chris Beall
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814fb949ba
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fixed critical bug relating to height of tree
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2010-02-06 17:45:40 +00:00 |
|
Chris Beall
|
675b30d1c1
|
updates to BTree
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2010-02-06 15:53:31 +00:00 |
|
Alex Cunningham
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f88438bab4
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Removed SQP optimizer and moved remaining SQP optimizer tests into testSQP. All equality constraints should be fully functional now. Inequality constraints still to come.
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2010-02-06 14:48:46 +00:00 |
|
Alex Cunningham
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219dfd262d
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SQP now works with single configs using the TupleConfigs, without needing a separate optimizer.
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2010-02-06 05:14:52 +00:00 |
|
Alex Cunningham
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d8a8575d26
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Removed a fixme comment
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2010-02-06 05:12:09 +00:00 |
|
Alex Cunningham
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d1267d1ef3
|
Added more constructors, print functionality and formatting for TupleConfig
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2010-02-06 05:10:25 +00:00 |
|
Alex Cunningham
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bb74b5c882
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Added a config template parameter for ProjectionFactors
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2010-02-06 05:08:52 +00:00 |
|
Alex Cunningham
|
af9f45ff24
|
Used template parameters in simulated2D to make it possible to template factors on a config type with typedefs for the previous usage so no other code needs to change
|
2010-02-05 14:49:40 +00:00 |
|
Alex Cunningham
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040d45cb45
|
Added wrapper classes for TupleConfig for ease of use.
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2010-02-05 01:33:33 +00:00 |
|
Chris Beall
|
8fe0795dd0
|
BTree moved into gtsam
|
2010-02-04 21:02:05 +00:00 |
|
Alex Cunningham
|
5c1c8ee76f
|
Changed PairConfig interface so that the internal configs need to be accessed with first() and second(). This is in anticipation of switching PairConfig to TupleConfig2.
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2010-02-04 17:15:09 +00:00 |
|
Alex Cunningham
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2068477e32
|
Added pragma once to LieConfig to prevent errors if included multiple times
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2010-02-04 16:08:59 +00:00 |
|
Alex Cunningham
|
67744a5f07
|
Changed NonlinearConstraint to correctly use new keys
|
2010-02-04 16:08:11 +00:00 |
|
Alex Cunningham
|
01bbd3cf8d
|
Disabling SQP tests while transitioning config types and SQP implementation
|
2010-02-04 16:07:20 +00:00 |
|
Alex Cunningham
|
843f11678b
|
Recursive TupleConfig now has typedefs for 2-6 configs
|
2010-02-04 03:40:03 +00:00 |
|
Alex Cunningham
|
4e70f14097
|
The recursive TupleConfig should be ready for use now.
|
2010-02-04 02:04:45 +00:00 |
|
Kai Ni
|
550121013f
|
fix const string problem in print
|
2010-02-03 20:12:16 +00:00 |
|
Alex Cunningham
|
e5a7d4c878
|
More functionality in TupleConfigs
|
2010-02-03 14:08:09 +00:00 |
|
Alex Cunningham
|
94d50ddfb9
|
Added a liberal sprinkling of 'typename' to make TupleConfig work better
|
2010-02-03 13:57:34 +00:00 |
|
Alex Cunningham
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a66a405dd5
|
Partially implemented version of a recursive TupleConfig that is still very much under testing.
|
2010-02-03 13:47:13 +00:00 |
John Rogers
|
2f16d8f6a1
|
Changed the order of constructor initializers in GaussianFactor to remove compiler warnings
|
2010-02-01 16:04:14 +00:00 |
Frank Dellaert
|
5554f6fc7e
|
Faster non-GSL versions of BLAS 2-style calls
|
2010-01-31 22:56:06 +00:00 |
|
Alex Cunningham
|
efe51c8419
|
Fixed typo in function name
|
2010-01-31 21:09:03 +00:00 |
|
Alex Cunningham
|
2889a25aeb
|
Fixed autotools files for GSL inclusion so that they don't include the wrong BLAS implementation when ATLAS is enabled
|
2010-01-31 18:26:18 +00:00 |
|
Alex Cunningham
|
c266012dcd
|
Added GSL/ATLAS version of multiplyAdd() and transposeMultiplyAdd()
|
2010-01-31 18:25:03 +00:00 |
justinca
|
74dd7128ac
|
Fixup cholesky decomposition - rename to LLt and RtR to make convention clear
|
2010-01-31 18:07:29 +00:00 |
|
Alex Cunningham
|
87cc573d34
|
Added a new combine process for GaussianFactors that allocates only one matrix when combining, rather than using append factor to make a large number of smaller matrices. There is a flag to switch between these modes, which currently defaults to the older approach. Currently, there does not appear to be a performance improvement, however.
|
2010-01-31 17:49:33 +00:00 |
|
Alex Cunningham
|
9f16d7b07f
|
Added in-place sub insert function to Vector
|
2010-01-31 17:24:01 +00:00 |
|
Alex Cunningham
|
48d2dabe43
|
Added in-place insertion functions to Matrix, as well as a #define flag to enable or disable GSL code without a reconfigure.
|
2010-01-31 17:21:07 +00:00 |
|
Alex Cunningham
|
b5ca322d21
|
Added default tolerance value to equals in Key classes so that equals() works properly
|
2010-01-31 17:00:27 +00:00 |
|
Frank Dellaert
|
fa6a515bfd
|
SAM was substantially sped up by inlining VectorConfig::insert
|
2010-01-31 16:05:16 +00:00 |
|
Frank Dellaert
|
5e4b23df59
|
Matrix::multiplyAdd and transposeMultiplyAdd are "level 2" BLAS and speed up the numeric part of the code substantially. Alex might be able to speed them up even more by making them use real BLAS code within Matrix.cpp.
|
2010-01-31 16:04:24 +00:00 |