a89781a9e6
Add some comments
2014-11-06 14:26:46 -05:00
c332a44c5e
No more LieVector
2014-11-04 15:44:20 +01:00
d06de2f044
Reverted to LieScalar until Prior and Between factors fixed
2014-11-04 14:26:50 +01:00
b5327673fb
Get rid of LieVector
2014-11-03 11:02:15 +01:00
492c607f9e
No more Lie types
2014-11-03 09:27:40 +01:00
82f6ed5ca8
inserted spaces after commas
2014-10-28 14:15:34 +01:00
bc094951ed
all values in Values container are now a ChartValue<ValueType, Chart=DefaultChart<ValueType> >
...
ChartValues are GenericValues and a Chart, which defaults to DefaultChart
had to make charts functional (ie no storage of the chart origin) so that they could be zero sized base class
otherwise there would have been a double of the memory for values (ones for the value, and once for the chart origin, which default to the same)
most tests work, execept for serialization based stuff, and const filtering of values.
2014-10-28 00:57:44 +01:00
5a792c8847
No Cayley in quaternion mode
2014-10-22 21:55:35 +02:00
06af482d61
Added test for Rot3 - all is good
2014-10-21 23:07:38 +02:00
224b71d696
Created testManifold
2014-10-21 12:54:28 +02:00
e46a8b05eb
Some mode readable matrix types
2014-10-11 23:06:57 +02:00
7a658e0347
relaxed tolerance a tiny bit to make test pass with Boost 1.56
2014-08-14 00:25:49 -04:00
946cc5338a
Merge branch 'develop' into feature/timing_scripts_build
...
Conflicts:
gtsam_unstable/CMakeLists.txt
2014-06-21 08:55:49 -07:00
17426d0076
subgraph preconditioner revised
2014-06-15 23:14:06 -04:00
67398f0f13
add BlockJacobiPreconditioner class and unit test
2014-06-08 16:15:00 -04:00
e8d3809917
add new generic pcgsolver and preconditioner classes
...
add a unit test for the PCGSolver class
2014-06-08 00:34:23 -04:00
fe235b1209
Building timing scripts using new timing script support in GtsamTesting.cmake. Fixed compile errors in timing scripts but disabled a couple.
2014-06-07 19:02:11 -07:00
515b612ca0
Merge branch 'develop'
...
Conflicts:
.cproject
2014-05-28 18:59:04 -04:00
2af4b4ec4c
commented test on spanning forest
2014-05-28 18:56:44 -04:00
386ed2e510
Merge branch 'develop'
...
Conflicts:
gtsam_unstable/slam/SmartFactorBase.h
2014-05-28 18:11:39 -04:00
f6ad0a1920
fixes with Frank
2014-05-16 19:22:35 -04:00
b8300c3b0a
Improved function findMinimumSpanningTree to cope with general graphs (and added comments)
2014-05-14 17:39:59 -04:00
0d957084c0
fixed unit test on findMinimumSpanningTree
2014-05-14 17:21:32 -04:00
d725dd4816
Renamed unit tests that still had 'Unordered' in the name
2014-05-07 18:19:11 -07:00
92c9e9c0aa
Fixed "unused" warnings
2014-05-03 12:23:49 -04:00
1ed07ca4ed
Moved to unstable
2014-05-03 12:23:20 -04:00
4769e3c3fa
Fix for unit test based on previous LM change
2014-04-24 12:05:37 -04:00
a6d73e8884
improved efficiency of diagonal damping (avoiding multiple traversal of binary tree)
2014-03-13 22:43:51 -04:00
e65ddf4d87
cleaned up LM with Richard, before merge
2014-03-12 14:24:15 -04:00
6f692b1547
Merge branch 'develop'
...
Conflicts:
gtsam/base/SymmetricBlockMatrix.cpp
gtsam/linear/JacobianFactor-inl.h
gtsam_unstable/geometry/tests/testTriangulation.cpp
2014-03-12 12:57:59 -04:00
49a1b7abca
partially fixed unit test on LM
2014-02-25 21:09:05 -05:00
1770f44ad9
Fixed a number of clang warnings
2014-02-23 18:53:48 -05:00
fdd891c7c9
Fixed left-over "ordered" test factor in testExtendedKalmanFilter.cpp
2014-02-23 18:52:57 -05:00
7192bd2f79
Removed namespace-functions for ISAM2 optimize* and gradient*, these were only there to try to maintain a consistent interface for linear but really were not correct anyway since ISAM2 is a nonlinear object. They instead caused confusion and made the code complicated since they used a complicated system for updating and caching various components that go into calculating the solution. Replaced all this with much simpler code directly inside updateDelta, which uses clearly-defined functions in the ISAM2::Impl class to calculate the components that go into the solution. Also removed the redundant deltaUpToDate flags - now just checks whether deltaReplacedMask is empty.
2014-02-22 16:46:38 -05:00
a0bc4b0a5a
added 1 more unit test: delta is perpendicular to gradient of original system
2014-02-20 12:35:07 -05:00
dec6430d9b
1 more test: a small step in delta direction does not decrease error
2014-02-20 12:22:12 -05:00
541dbd5199
Plot thickens: delta computed from damped system points downhill but non-linear error does not decrease
2014-02-20 09:02:24 -05:00
33ae83fcb2
Much more extensive testing of diagonal policy with Luca over Skype - gets stuck in a non-minimum !!!
2014-02-20 00:28:15 -05:00
c05eaa0d22
fixed unit test
2014-02-16 17:11:58 -05:00
9279d4402f
identifying convergence issue in diagonal hessian LM
2014-02-16 16:19:20 -05:00
17e2221395
New test showing diagonal damping currently broken.
2014-02-16 11:58:13 -05:00
661a157553
Working on standardizing/simplifying building unit tests and examples. Much simpler cmake function to add a glob of tests, doing away with convenience libraries, and removing other options that we never change from their defaults.
2014-02-13 01:34:31 -05:00
4b8c17ec77
Changed target name to 'gtsam' instead of 'gtsam-shared' and 'gtsam-static'. Modified CMake options to only allow building either static or shared, but not both. Enabled GTSAM_BUILD_TYPE_POSTFIXES by default on all platforms.
2014-01-30 14:41:25 -05:00
8c4aa2b9a6
remove all LieMatrix(sizt_t m, ...), which also has dangerous behavior
2014-01-23 18:46:01 -05:00
96296333ae
remove all LieVector(size_t m, ...), which doesn't check parameter's type and it's also dangerous
2014-01-23 18:35:29 -05:00
b36574f77a
remove all Vector_() definition and declaration
2014-01-23 02:51:05 -05:00
97ebfbb1f0
fix Vector_() remained
2014-01-23 02:16:36 -05:00
8641816b21
fix Vector_() in gtsam_unstable and tests
2014-01-23 02:03:12 -05:00
686051c032
Convert DOS line endings to UNIX
2014-01-09 16:39:27 -05:00
880d9a8e3c
Switched to new Eigen built-in special comma initializer
2013-12-16 21:33:12 +00:00
6c2077ccc5
Updated unit tests for clique finding fix
2013-11-19 00:26:18 +00:00
fa5d08d9a6
Option to reuse old factor slots in ISAM2
2013-11-18 19:23:09 +00:00
2896a45d1f
Fix Matrix_(...) to Mat() <<...
2013-11-13 06:08:59 +00:00
05467e4774
Fix Matrix_(...) to Mat() <<... in tests
2013-11-13 06:02:35 +00:00
ec78d54f37
Removed old Index typedef and IndexFormatter
2013-11-08 16:35:28 +00:00
855e2aa18c
Logging works, see testNonlinearOptimizer.cpp
2013-10-30 15:40:22 +00:00
3c33e44c46
Fixed compile errors on windows
2013-10-29 04:24:14 +00:00
def9b84e45
Added virtual solve method to NonlinearOptimizer that you can override, e.g., with Ceres
...
See example in testNonlinearOptimizer
As part of this, I also merged SuccessiveLinearizationParams into NonlinearOptimizerParams, which is now in its own separate file NonlinearOptimizerParams.h
2013-10-25 18:27:43 +00:00
181881a8d7
Fix Vector_() to Vec() in tests
2013-10-22 03:56:51 +00:00
3c68d20ff2
Fixed calculate_nnz and added unit test
2013-10-03 16:50:20 +00:00
2b78eb8bec
Restored NonlinearFactorGraph::symbolic() and made a few other minor fixes.
2013-09-17 03:13:32 +00:00
bbb6ff90fd
Added tests and updated comments regarding using disconnected systems
2013-09-09 16:59:04 +00:00
06548ec8a9
Fixed bug in marginals introduced with unordered and modified a unit test to catch it.
2013-08-26 23:05:17 +00:00
c6cf4d2dab
Removed use of convenience libraries for tests - wasn't really supported in current version
2013-08-19 15:32:21 +00:00
4b12d6f794
Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization
2013-08-19 15:32:16 +00:00
0f3732d7f5
Moved summarization back to MastSLAM - functionality largely replaced with newer elimination functionality
2013-08-16 16:32:20 +00:00
0b58b0166a
Fixed errors and warnings on linux
2013-08-12 21:32:51 +00:00
6410205e78
Fixed warnings
2013-08-11 18:18:06 +00:00
3c8d482271
Reenabled dogleg unit tests and moved relevant parts to other test files
2013-08-11 18:17:32 +00:00
f1fb9374c9
Merged from branch 'branches/unordered-isam2'
2013-08-11 00:57:54 +00:00
4e2f2c3822
Changed public back to protected
2013-08-11 00:40:12 +00:00
3228895c26
Fixed ISAM(2) unit tests
2013-08-11 00:40:04 +00:00
63e89656d2
Temporary debugging for marginalizeLeaves
2013-08-10 15:52:00 +00:00
789f2bee97
ISAM2 compiling and fixed several issues but still some unit tests failing
2013-08-09 21:35:47 +00:00
9a10242e96
Fixed warnings
2013-08-09 21:35:42 +00:00
073ea4fa0f
Re-enabled summarization test/implementation. Sequential versions re-implemented, but tests don't pass
2013-08-09 19:59:14 +00:00
375f7c16e6
Working on fixing ISAM
2013-08-06 19:56:48 +00:00
89310ceb09
Syntax
2013-08-06 19:56:45 +00:00
2d60d2cdfa
Fixed more unit tests
2013-08-06 18:04:40 +00:00
18b71ef110
Fixed some unit tests
2013-08-06 18:04:37 +00:00
49e93a71b0
No noise model in smallExample
2013-08-06 18:04:36 +00:00
e1991ff49c
Fixed warnings
2013-08-06 17:36:05 +00:00
3fbc0c739f
Fix in testGaussianBayesTree
2013-08-06 16:18:09 +00:00
77f0f0f5f6
Disabled testSerializationSLAM for the time being
2013-08-06 16:10:13 +00:00
5692fb5e98
Fixed HessianFactor combining into dense factor with ordering
2013-08-06 13:44:50 +00:00
e39d100b6a
Made most global unit tests compile, includes dogleg, iterative, kalman filter, etc
2013-08-06 13:44:22 +00:00
ede0805fac
Global find+replace to remove Ordered
2013-08-05 22:31:44 +00:00
cb7eb1b510
Find+replace Ordered headers
2013-08-05 22:31:33 +00:00
90b1349f23
Made NonlinearConjugateGradientOptimizer compile
2013-08-05 22:31:22 +00:00
55ce9eed1d
Updated smallExample
2013-08-05 22:31:21 +00:00
ac0f108106
Removed redundant test
2013-08-05 22:31:15 +00:00
4db55a3a6a
Removed 2 more ordered files
2013-08-02 22:09:46 +00:00
be0b27a003
Removed obsolete Ordered classes and unit tests that have already been converted
2013-08-02 22:09:40 +00:00
98623f9068
Adapted timeIncremental to work with landmarks
2013-07-30 14:32:11 +00:00
69a9d75dd6
Converting smallExample and GaussianISAM
2013-07-30 02:11:34 +00:00
3ade190128
Renamed old classes to "Ordered" and removed "Unordered" name from new classes
2013-07-29 23:55:40 +00:00
b857dab6a9
Renamed unit tests already converted to 'Obsolete'
2013-07-17 03:13:00 +00:00
d7767188b3
Merged from branch 'trunk'
2013-07-01 13:11:15 +00:00
77a1e9a485
Added ISAM2::marginalCovariance function.
2013-06-29 02:19:03 +00:00
123657e3d0
Merged from branch 'trunk'
2013-06-24 15:28:16 +00:00
Sungtae An
dellaert
Mike Bosse
Chris Beall
Richard Roberts
Yong-Dian Jian
Luca
Zsolt Kira
jing
Jing Dong
Frank Dellaert
Alex Cunningham