Zsolt Kira
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870a20396f
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Merge branch 'feature/smartFactors' of https://bitbucket.org/gtborg/gtsam into feature/smartFactors
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2014-04-24 12:06:22 -04:00 |
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Zsolt Kira
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4769e3c3fa
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Fix for unit test based on previous LM change
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2014-04-24 12:05:37 -04:00 |
Luca
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f15f7f3893
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Jacobian factors' gradientAtZero with raw memory access does nothing (to be fixed)
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2014-04-24 12:02:11 -04:00 |
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Luca
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185c572b5a
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removed wrong base class
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2014-04-24 11:28:41 -04:00 |
djensen3
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20eeb90682
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Removed noise from pose prior for non-BetweenFactors. Added saving figures as .png
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2014-04-24 10:24:44 -04:00 |
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Zsolt Kira
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a95126599f
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Fix LM behavior when GaussianFactorGraph is subclassed. Use clone method instead of assignment to local GaussianFactorGraph when creating damped system.
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2014-04-24 09:47:48 -04:00 |
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Luca
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8c657f8857
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slight change in implementation of hessianBlockDiagonal
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2014-04-23 19:00:15 -04:00 |
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Luca
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d9e93f316a
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error computation now does not include noise model
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2014-04-23 18:43:14 -04:00 |
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djensen3
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c1ab0053eb
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fixed bug with IMU bias. added option to delay start of GPS factors
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2014-04-23 16:06:03 -04:00 |
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Luca
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2b52bad569
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optimized point damping
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2014-04-23 15:15:48 -04:00 |
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Luca
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e56666e85c
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fixed print function
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2014-04-23 14:53:01 -04:00 |
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djensen3
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87f9e5bb2c
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completed GPS factors
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2014-04-23 14:45:17 -04:00 |
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djensen3
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2ab81ae997
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working on GPS factors
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2014-04-23 12:39:47 -04:00 |
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djensen3
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13d47fcee4
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added IMU type 2 with noise
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2014-04-23 08:58:50 -04:00 |
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Luca
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37b750411f
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added gradientAtZero with raw memory access
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2014-04-22 18:38:12 -04:00 |
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Luca
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67cfe5ea66
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moved logging at the end of the iteration
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2014-04-22 11:55:16 -04:00 |
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Luca
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e98c4c2ac2
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added output message for TRYLAMBDA verbosity level
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2014-04-21 19:18:21 -04:00 |
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Luca
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dd780e356c
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fixed computation of linearized error in implicit schur factors
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2014-04-21 18:59:33 -04:00 |
thduynguyen
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147f666a6c
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make Jacobian/Hessian cast functions static to use them in other places. TODO: move them to GaussianFactor
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2014-04-18 12:21:34 -04:00 |
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thduynguyen
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faf4643dd3
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size() should return size_t not Key
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2014-04-18 12:19:55 -04:00 |
Chris Beall
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9dbabbc847
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Another Windows fix. Everything now builds, as long as METIS and GeographicLIB are off.
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2014-04-18 10:36:33 -04:00 |
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Chris Beall
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36f53f7226
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Fix errors on Windows with VS 2010
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2014-04-17 23:53:41 -04:00 |
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Chris Beall
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1ed2700515
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Fix errors on Windows with VS 2010
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2014-04-17 22:49:04 -04:00 |
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djensen3
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5abf0b01ea
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Added option for constant IMU bias
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2014-04-17 22:21:22 -04:00 |
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Chris Beall
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d3333c1c85
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Fix errors on Windows with VS 2010
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2014-04-17 22:07:55 -04:00 |
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Luca
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26c296603f
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fixed use of 2nd order integration in matlab wrapper
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2014-04-17 16:23:29 -04:00 |
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Luca
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a0a955e5a5
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fixing imu simulator for non-identical rotations
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2014-04-17 16:14:32 -04:00 |
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Luca
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322e3e08c8
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consistent IMU factor1
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2014-04-17 16:08:38 -04:00 |
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Luca
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3cae615991
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amost fixed imu simulation
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2014-04-17 16:00:18 -04:00 |
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Luca
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2e3dcd2ab7
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code reorganization
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2014-04-17 15:23:01 -04:00 |
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Luca
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9bc0ddd4a2
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minor fixes
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2014-04-17 14:11:18 -04:00 |
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thduynguyen
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3d3748bb44
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build dualgraph supports least-squares multipliers
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2014-04-17 12:01:29 -04:00 |
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thduynguyen
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99889703a6
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add build dir to GTSAM_INCLUDE_DIR so projects built with gtsam build tree can find <gtsam/config.h>
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2014-04-17 12:00:35 -04:00 |
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djensen3
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e1c13c87d7
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Added option for type 2 IMU factors
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2014-04-17 10:09:53 -04:00 |
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Luca
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4552327e54
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added space :)
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2014-04-16 19:41:23 -04:00 |
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djensen3
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b5f9862274
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fixed bug with missing priors. Added IMU noise measurements to Monte Carlo runs
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2014-04-16 16:20:10 -04:00 |
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djensen3
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1432fb773b
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minor changes
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2014-04-16 15:25:05 -04:00 |
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djensen3
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b85ebb501d
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restructuring code to utilize functions and reduce size of primary script
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2014-04-16 15:01:12 -04:00 |
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thduynguyen
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7fb9f47072
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Fix gtsam's old segfault bug in JacobianFactor::isConstrained: return false if it has no noisemodel. Test Nocedal06book, example 16.4, pg 475 passed.
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2014-04-15 17:28:23 -04:00 |
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thduynguyen
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02ac8d23b0
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Test with Matlab's QP example
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2014-04-15 16:47:07 -04:00 |
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thduynguyen
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cbda04a96d
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disable printing
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2014-04-15 16:37:32 -04:00 |
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thduynguyen
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90ec933da3
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refactor QPSolver into its own class
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2014-04-15 16:27:19 -04:00 |
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thduynguyen
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47255fbab6
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Detailed comments for choosing the step size
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2014-04-15 16:03:14 -04:00 |
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thduynguyen
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495b7ba099
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Detailed comments about the lambda<0 condition for good ineq <=0 constraints, wrt the Lagrangian L = f(x) - lambda*c(x)
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2014-04-15 15:14:10 -04:00 |
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thduynguyen
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b07b431ac0
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first ineq QP test passed!
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2014-04-15 13:55:24 -04:00 |
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thduynguyen
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22cbe326e3
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fix bug in weightedPseudoInverse dealing with negative weights of ineq constraints
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2014-04-15 13:55:04 -04:00 |
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Luca
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8367d45e48
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improved matlab code for consistency check
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2014-04-15 12:12:39 -04:00 |
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Luca
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765c5a534e
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Merge branch 'origin/feature/new_imu_factors'
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2014-04-15 11:07:12 -04:00 |
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Luca
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e232b6085b
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wrapping smart factors
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2014-04-15 11:06:38 -04:00 |
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djensen3
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75b042bbcd
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Working on IMU factors. made changes to noise
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2014-04-15 11:05:43 -04:00 |