dellaert
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d2f56b13ed
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Non-trivial noise models now correctly handled (at a small performance penalty, due to malloc of Vector b).
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2014-11-02 14:37:52 +01:00 |
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dellaert
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8a6d8bfc82
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Back to single
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2014-11-02 14:35:32 +01:00 |
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dellaert
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d0e004c05f
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No this-> needed
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2014-11-02 14:35:22 +01:00 |
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dellaert
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90a0fa6e45
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Check if active
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2014-11-02 13:53:22 +01:00 |
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dellaert
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a8ab910c32
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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().
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2014-11-02 13:45:54 +01:00 |
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dellaert
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b21db08ec1
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Fixed small issue, should not assign to reference in case of Quaternions.
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2014-11-02 13:03:36 +01:00 |
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dellaert
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d4dcf90bd1
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SUPERFAST linearize, by pre-allocating the JacobianFactor and writing into it.
Merging local branch 'feature/BAD_WriteableJacobianFactor' into feature/BAD
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2014-11-02 13:00:08 +01:00 |
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dellaert
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049631e530
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Avoid re-allocating vertical offsets
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2014-11-02 12:57:13 +01:00 |
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dellaert
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b9e3c3b116
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Made unsafe constructor private, but made ExpressionFactor<T> a friend.
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2014-11-02 12:01:52 +01:00 |
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dellaert
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cb69f2cb82
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Fastest linearize so far. Putting 'unsafe' constructor in JacobianFactor itself makes a *huge* difference.
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2014-11-02 11:40:48 +01:00 |
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Frank Dellaert
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a1c6c3cbe5
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Merged in feature/BAD_VerticalBlockMatrix (pull request #29)
Straight copy into VerticalBlockMatrix
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2014-11-01 19:26:14 +01:00 |
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dellaert
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7aaf4dae8c
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Merge remote-tracking branch 'origin/feature/BAD_VerticalBlockMatrix' into feature/BAD_WriteableJacobianFactor
Conflicts:
gtsam_unstable/nonlinear/ExpressionFactor.h
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2014-11-01 17:45:23 +01:00 |
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dellaert
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7debde7518
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Moved to ExpressionFactor that now uses it - timing seems worse ?
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2014-11-01 15:12:06 +01:00 |
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dellaert
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12e38a44e4
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WriteableJacobianFactor will allow ExpressionFactor to write into the factor directly, (hopefull) eliminating huge overhead.
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2014-11-01 14:13:08 +01:00 |
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dellaert
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a4fa61a7a4
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Removed JacobianMap tests
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2014-11-01 11:56:38 +01:00 |
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dellaert
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f38b0b0eed
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Fixed unwhitenedError
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2014-11-01 11:50:28 +01:00 |
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dellaert
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7b539fbb5c
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Make JacobianMap a wrapper around a VerticalBlockMatrix, which avoids us having to make a vector of references into it
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2014-11-01 11:35:49 +01:00 |
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Frank Dellaert
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8e7864dc96
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Merged in feature/BAD_vector (pull request #28)
Changed the type of JacobianMap as std::vector
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2014-10-31 16:29:35 +01:00 |
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dellaert
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593edd1e5c
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Fixed asserts
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2014-10-31 16:29:15 +01:00 |
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dellaert
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d0c3bc0c8e
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Fixed tests
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2014-10-31 16:27:54 +01:00 |
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dellaert
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768a4abc05
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Does not need lambda
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2014-10-31 16:27:46 +01:00 |
Sungtae An
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a5b8d0fd35
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Modified finding method
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2014-10-31 11:06:26 -04:00 |
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dellaert
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f5c6ccca17
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Changed size (because transpose_) was removed
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2014-10-31 13:48:39 +01:00 |
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Sungtae An
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6a20d35a60
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Modified pointer expression
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2014-10-31 07:28:07 -04:00 |
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Sungtae An
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133fcf20e2
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Cleaned up some commented codes
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2014-10-31 07:22:19 -04:00 |
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Sungtae An
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97d4120858
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Changed the type of JacobianMap as std::vector
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2014-10-31 07:10:53 -04:00 |
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dellaert
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c1c6a30e50
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Removed print statement
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2014-10-23 22:39:07 +02:00 |
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dellaert
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cfe56a0aa8
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Removed transpose_. It did speed up things but was bad design. Will need to profile again and find different ways to cope with transpose() overhead. One way is to return a Eigen::Transpose<> object as hinted to in comments.
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2014-10-23 19:13:37 +02:00 |
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dellaert
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79efd2f3fc
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SLERP with Zhaoyang, not really part of BAD, but here it originated :-)
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2014-10-23 19:11:44 +02:00 |
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dellaert
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e7ec6b3fa5
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Fixed size
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2014-10-23 12:04:16 +02:00 |
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dellaert
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e58317ed7d
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Tightened some tests, fixed LieVector issues
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2014-10-23 12:04:02 +02:00 |
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dellaert
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77e7f0437d
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Merge remote-tracking branch 'origin/feature/FixQuaternion' into feature/BAD
Conflicts:
gtsam/geometry/tests/testRot3M.cpp
gtsam/geometry/tests/testRot3Q.cpp
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2014-10-23 10:03:10 +02:00 |
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dellaert
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845697555a
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Fixed tests for Quaternion mode but Pose3 not in EXPMAP mode
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2014-10-23 09:52:35 +02:00 |
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dellaert
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056254bf93
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Optimized a bit more
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2014-10-23 09:51:43 +02:00 |
cbeall3
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a0be48ef75
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revert from fixed size vectors to make it compile with existing numericalDerivatives
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2014-10-22 22:00:25 -04:00 |
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dellaert
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941d6dfe07
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Fixed LogMap - something fishy in Eigen? Or at least low-accuracy.
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2014-10-23 01:54:46 +02:00 |
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dellaert
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19e34489cf
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Made a common test
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2014-10-23 01:54:14 +02:00 |
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dellaert
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49ff33602d
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Undid change
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2014-10-23 01:44:04 +02:00 |
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dellaert
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9b35206a4f
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target
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2014-10-23 01:43:54 +02:00 |
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dellaert
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0501750c7c
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Fixed accuracy and size issues in Quaternion mode
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2014-10-22 22:54:25 +02:00 |
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dellaert
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8902979944
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Added target
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2014-10-22 22:50:43 +02:00 |
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dellaert
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483d713859
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unrotate is same now, with transpose_
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2014-10-22 22:16:35 +02:00 |
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dellaert
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5a792c8847
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No Cayley in quaternion mode
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2014-10-22 21:55:35 +02:00 |
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dellaert
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0f26842073
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Added transpose_ in Quaternion mode
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2014-10-22 21:55:11 +02:00 |
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dellaert
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be676b22cf
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Fix some tests
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2014-10-22 16:26:56 +02:00 |
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dellaert
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48a6777935
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Some refactoring
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2014-10-22 16:26:40 +02:00 |
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dellaert
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a29f09423c
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Merge branch 'develop' into feature/BAD
Conflicts:
gtsam/linear/tests/testGaussianBayesNet.cpp
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2014-10-22 13:56:27 +02:00 |
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dellaert
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e46be60215
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Speeding up localCoordinates
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2014-10-22 13:46:05 +02:00 |
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dellaert
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1061a66fc1
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Speeding up localCoordinates
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2014-10-22 13:45:57 +02:00 |
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dellaert
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0f53c8d5ec
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Timing of Ceres AutoDiff adaptor
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2014-10-22 12:49:18 +02:00 |