a9ea1f4033
Made Roots typedef in BayesTree
2014-02-22 16:28:37 -05:00
c5338811a0
Fixed code comment
2014-02-22 16:23:18 -05:00
926c27c732
Rename Sphere2 -> Unit3
2014-02-22 16:20:28 -05:00
83105f08a2
Values changed a tiny bit after fixing Sphere2
2014-02-22 15:59:27 -05:00
37489ddba7
Fixed Sphere2::localCoordinates so very small difference no longer gives nan, also made it a tiny bit more efficient (avoid one cos).
2014-02-22 15:53:54 -05:00
dabd3cc612
Added more tests to diagnose problem in Sphere2::localCoordinates
2014-02-22 15:52:50 -05:00
39b3b2160e
Added test that exposes problem in localCoordinates
2014-02-22 14:31:18 -05:00
2b323d5cb7
Removed RENORM version
2014-02-22 14:30:40 -05:00
c828bf567e
removed cout
2014-02-21 20:58:01 -05:00
eba4ca79a4
Added shared_ptr versions of named constructors in SymbolicFactor and SymbolicConditional, for a slight performance boost.
2014-02-21 17:17:36 -05:00
98e32a1e6d
reorganized verbosity and included the new lambda policy from CERES
2014-02-20 17:17:12 -05:00
06c5186fa2
added function to create initial values from db
2014-02-20 15:37:17 -05:00
7e8bb1ffb0
rearranging comments
2014-02-20 15:36:11 -05:00
4c86ea1ab5
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-20 10:10:04 -05:00
666072b169
Created new method buildDampedSystem with Luca
2014-02-20 00:27:33 -05:00
53134425d5
Fixed verbosity check
2014-02-20 00:26:48 -05:00
7efe7cefca
Removing unimplemented method optimize()
2014-02-18 18:24:27 -05:00
9adc59af18
added verbosity for debugging termination
2014-02-18 17:33:00 -05:00
92834a8ed7
modified verbosity levels
2014-02-18 14:39:12 -05:00
25bd93359a
Fixed warning
2014-02-18 14:13:07 -05:00
d3d566597c
Comment fix
2014-02-18 13:27:17 -05:00
fbfa287d4b
added parameters in "print" for LM
2014-02-17 17:43:45 -05:00
ed4e1a8e57
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-17 12:41:09 -05:00
13254bcc3a
Add related code for reuse_diagonal, as Ceres did. This is for step strategry (efficiency comparison) in smartFactors_Ceres.
2014-02-17 10:13:14 -05:00
3293df1529
Removed duplicate link libraries during wrap
2014-02-17 00:43:14 -05:00
c05eaa0d22
fixed unit test
2014-02-16 17:11:58 -05:00
4aec076568
do not cross upper bound for lambda
2014-02-16 16:33:57 -05:00
a1ff716daf
Add min_diagonal and max_diagonal as Ceres.
2014-02-16 16:32:18 -05:00
8b6bb80cec
small fix
2014-02-16 16:05:01 -05:00
f804fd9bd1
Traced Ceres and took sqrt of diagonal term as they did.
2014-02-16 15:50:26 -05:00
e88b214b40
Small re-factor, no more finished()
2014-02-16 12:17:00 -05:00
f8024bd6dd
Conversion from Hessian can have NULL node model
2014-02-16 12:15:52 -05:00
c31d48dba1
New flag to govern diagonal damping, off by default
2014-02-16 11:57:51 -05:00
19a06ca68f
Added unit tests for NULL noise model and fixed bug in hessianDiagonalXX for that case
2014-02-16 00:21:15 -05:00
b0618b8894
Replace the identity matrix with diagonal of Hessian.
2014-02-15 20:46:28 -05:00
e789553261
bug fix: hessianDiagonal seg-faulted with NULL factors
2014-02-15 16:48:15 -05:00
71e4015304
bug fix: before hessianDiagonal seg-faulted with no noise model
2014-02-15 16:44:20 -05:00
95c13d64dc
Minimal unit test, forgotten by @richardroberts :-)
2014-02-15 12:10:41 -05:00
298921509c
As I was reading through, wrapped all comments to fit within 80 characters.
2014-02-15 12:10:17 -05:00
15ba23bf46
Format using BORG conventions
2014-02-15 12:02:37 -05:00
99947c7c6d
Format using BORG conventions
2014-02-15 11:55:00 -05:00
b7cbc7a66f
Format using BORG conventions
2014-02-15 11:47:30 -05:00
6a8084ee02
Format using BORG conventions
2014-02-15 11:47:25 -05:00
2865aab027
Working and tested implementation of hessianBlockDiagonal
2014-02-14 13:47:47 -05:00
bb9ada6c7a
declared hessianBlockDiagonal
2014-02-14 13:39:36 -05:00
38d8de1537
Put in test
2014-02-14 13:39:07 -05:00
a2829fffad
Working and tested implementation of hessianBlockDiagonal
2014-02-14 13:31:40 -05:00
411381fd88
unit test for Jacobian::hessianBlockDiagonal
2014-02-14 13:31:21 -05:00
7abcd81150
Working and tested implementation of hessianBlockDiagonal
2014-02-14 13:22:13 -05:00
6e4433f589
Made correct test for HessianFactor::hessianBlockDiagonal
2014-02-14 13:19:17 -05:00
83918be8cd
Put in empty bodies for hessianBlockDiagonal
2014-02-14 13:18:59 -05:00
b837cb1b03
Declared hessianBlockDiagonal
2014-02-14 13:18:46 -05:00
d9431d3d40
Added expected values for hessianBlockDiagonal
2014-02-14 13:09:04 -05:00
4ce7d47bce
Fixed bug for non-unit noise models
2014-02-14 01:38:31 -05:00
a272264e7d
Added unit test for hessianDiagonal
2014-02-14 01:38:08 -05:00
239b0fda6f
removed obsolete comment
2014-02-14 01:33:29 -05:00
d3ac03e419
rename
2014-02-14 01:28:48 -05:00
2ab25b3f65
hessianDiagonal now unit tested for HessianFactor
2014-02-14 01:27:03 -05:00
76959d4d18
Added hessianDiagonal; works for Gaussian factor graphs with JacobianFactors
2014-02-14 01:14:32 -05:00
4b7de1abb8
Formatting only
2014-02-13 20:28:37 -05:00
d70f6b7be4
Formatting and comments only
2014-02-13 20:23:06 -05:00
72ec292022
Merge branch 'develop' into feature/adding-scripts-simplify
2014-02-13 15:25:27 -05:00
b048db4296
refactored matrices test and checked my understanding of diagonal
2014-02-13 14:58:29 -05:00
e471df6a32
ignore temp files
2014-02-13 14:57:33 -05:00
b3aa563e13
Removed non-existant file to exclude
2014-02-13 11:14:25 -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
6df79b8dac
Using variate_generator in Sphere2 random for compatibility with old boost
2014-02-12 20:40:22 -05:00
3fc41d5da3
Removed unused headers
2014-02-12 19:40:11 -05:00
7cb4a8390a
Removed use of boost::range 'join' - replaced with a special flag to add one dimension in VerticalBlockMatrix and SymmetricBlockMatrix
2014-02-12 18:50:05 -05:00
27a86352d7
boost::random namespace fixes in geometry
2014-02-12 17:15:02 -05:00
89d7e61ca9
added minModelFidelity (use if slightly different from CERES)
2014-02-12 16:47:27 -05:00
d13ef17ce8
added "disableInnerIterations" and "modelFidelity" computations
2014-02-12 16:16:25 -05:00
b89c33977a
fixed bug with null factors in GaussianFactorGraphs
2014-02-12 16:15:52 -05:00
ec19643840
default constructor to allow serialization
2014-02-11 20:03:01 -05:00
5db9dd4081
Removed .finished() from testGaussianBayesTreeUnordered.cpp
2014-02-10 08:54:14 -05:00
2e1e4951e1
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
2014-02-09 13:45:41 -05:00
c9ead8bbd3
computation of modelMismatch in LM
2014-02-07 18:27:37 -05:00
01be5dce94
Added template parameters to resolve Mac issue.
2014-02-05 15:51:20 -05:00
9af20808d4
renamed incorrectly named serialization function
2014-02-04 11:05:25 -05:00
052d73c444
fixes for explicit Sphere2 constructor
2014-02-04 11:04:22 -05:00
1d5da1c35e
Changed to Point3, which makes much more sense
2014-02-02 22:43:00 -05:00
a24d4ad3d1
Added clone. Don't like this ugly copy/paste thing all over :-(
2014-02-02 22:39:09 -05:00
44e323070a
added Vadim
2014-02-01 20:20:54 -05:00
7169c127fa
Created common base class
2014-02-01 19:05:23 -05:00
d0ee9c662d
Switched to Rot3 and added Pose3 version
2014-02-01 17:44:58 -05:00
cfe5a3663e
LieScalar does not make sense here: scale is known -> double
2014-02-01 14:03:16 -05:00
5604414b40
Made Sphere2 constructor to be explicit + some changes in Rot3.
2014-02-01 12:42:59 -05:00
a48c72ff63
Fixed sign of 2D version
2014-02-01 10:33:17 -05:00
5369a7bd17
Simplify by storing s*dir
2014-02-01 10:29:03 -05:00
6d16ebf68d
Moved from Vector3/LieVector to Point3. I have mixed feelings about this. Wondering (again) whether Point3 ought to *be* a Vector3 after all.
2014-02-01 09:31:22 -05:00
b3a0802c93
Removed typename in shared_ptr declaration.
2014-02-01 09:28:04 -05:00
d555c017d6
Fixed comments
2014-02-01 09:00:36 -05:00
419de466c0
Moved to header
2014-02-01 00:51:52 -05:00
f6731fe559
More efficient derivative
2014-02-01 00:50:03 -05:00
f6a733fb3e
Prototype MagFactor
2014-02-01 00:37:03 -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
fd6eb2b129
Added MagFactor that solves for rotation, now called 1,2,3, with respectively 1,2,3 arguments to factor.
2014-01-30 00:58:15 -05:00
2a637e77a7
gtsam namespace
2014-01-29 21:25:33 -05:00
46c266f8e5
Header file
2014-01-29 21:22:00 -05:00
2775bb9381
MagFactor scaffold
2014-01-29 21:16:43 -05:00
326876fe9d
Fixed dimension of noise model; caught by @atrevor
2014-01-29 16:50:16 -05:00
8fbab3bde8
Changed API slightly and made very clear what is measurement (typically in nav frame) and what is reference direction (typically in body frame)
2014-01-29 13:34:52 -05:00
344ef7801e
New AttitudeFactor is useful for aiding with an accelerometer
2014-01-28 19:43:44 -05:00
ff83094b5c
EXPECT not CHECK
2014-01-28 19:43:19 -05:00
a6ff1eb9ec
Merged develop into feature/partition
2014-01-28 18:35:46 -05:00
40f1858fd8
Fixed some things in GPSFactor
2014-01-28 16:24:59 -05:00
6bda38583f
EstimateState
...
Also, some more comments, and cpp file
2014-01-28 15:46:18 -05:00
7bf0d8ebf1
commented functionality - not working yet
2014-01-27 22:56:21 -05:00
c9a8ad0ac6
Merge remote-tracking branch 'origin/develop' into feature/LevenbergMarquardt
2014-01-27 22:23:11 -05:00
2a3575fcbc
added measure of fit between original and linearized model in LM
2014-01-27 22:02:02 -05:00
fe55148dd7
deleted redundant files for imu factors
2014-01-27 17:38:01 -05:00
ca0a355498
merge in changes in develop branch recently
2014-01-27 16:29:17 -05:00
a2c3b8e083
remove changes in gtsam/linear/NoiseModel.cpp to fix unit test failures
2014-01-27 15:13:37 -05:00
7656ce8b05
added lower bound for lambda
2014-01-27 10:29:20 -05:00
16071f5360
Fixed Jacobians
2014-01-25 21:20:18 -05:00
f924c21c19
Added test for Jacobian
2014-01-25 21:11:37 -05:00
c06ecb4f49
Merge branch 'origin/release/2.4.0'
2014-01-25 20:51:00 -05:00
60f0c4e51f
Tested local ENU coordinates
2014-01-25 20:32:22 -05:00
94e045e864
Convert to UTM
2014-01-25 19:45:10 -05:00
32455c3817
Geocentric coordinates test
2014-01-25 19:28:55 -05:00
088d85d8ba
Now links properly
2014-01-25 19:28:37 -05:00
73b3748bc6
enu coordinates
2014-01-25 18:57:10 -05:00
bcb13ec4e6
Expected result
2014-01-25 18:28:45 -05:00
ee018ecbee
Added unit test scaffold, but no idea how to link
2014-01-25 18:22:23 -05:00
ddaf473e28
Added GeographicLib in 3rdparty
2014-01-25 15:38:59 -05:00
837085e5d4
Merge branch 'origin/release/2.4.0'
2014-01-25 11:45:59 -05:00
0464b38ca0
Merged changes from develop
2014-01-25 10:07:34 -05:00
8c46e1d0cf
restricted cout to suitable verbosity level
2014-01-24 17:48:30 -05:00
8be9d37d72
created infrastruction for more general lambda policies in LM
2014-01-24 17:46:45 -05:00
8755e08dad
writeBALfromValues can now write either cameras or poses
2014-01-24 17:36:41 -05:00
6be91a2df2
Merge branch 'feature/2.4.0/templatedEF'
...
Adds CALIBRATION template argument to a second constructor
Resolved Conflicts (with Jing):
gtsam/slam/EssentialMatrixFactor.h
gtsam/slam/tests/testEssentialMatrixFactor.cpp
2014-01-24 17:26:03 -05:00
8e96f6a0d4
Checked in proposed change to *any* cartesian frame
2014-01-24 16:18:08 -05:00
3476264e21
Added test scaffold and prototype
2014-01-24 16:06:48 -05:00
08f048f70e
clean up
2014-01-23 19:26:22 -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
ad0662a860
now all Matrix_() removed
2014-01-23 03:16:38 -05:00
afdce9cd80
remove all Matrix_() in all folders
2014-01-23 03:03:12 -05:00
b36574f77a
remove all Vector_() definition and declaration
2014-01-23 02:51:05 -05:00
c4eec5d549
fix Vector_() remained
2014-01-23 02:16:04 -05:00
90786c0203
fix Vector_() in rest of gtsam folder
2014-01-23 01:44:55 -05:00
5e9540470a
modified Vector_() in gtsam/base and gtsam/geometry folders
2014-01-23 01:17:07 -05:00
8aac62ec1e
fix LieVector constructor away from Vector_()
2014-01-23 00:52:55 -05:00
d954cab884
fix compiler error on Mac OS 10.9/clang 5.
2014-01-22 12:17:31 -05:00
2b77116e08
Merged develop into feature branch, fixed Rot3 merge conflict.
2014-01-22 09:12:52 -05:00
a3a37131a1
Moved streaming to implementation file
2014-01-22 01:05:32 -05:00
6c9fd16ce8
Moved streaming to header
2014-01-22 01:03:40 -05:00
fafa3326f3
Streaming implemented with test
2014-01-22 00:59:22 -05:00
fd188a4978
Development of templated factors
2014-01-22 00:37:21 -05:00
af50678a7b
Merge branch 'feature/sphere2_expmap' of https://bitbucket.org/gtborg/gtsam into feature/sphere2_expmap
2014-01-10 15:42:30 -05:00
Richard Roberts
dellaert
Luca
Andrew Melim
cbeall3
hchiu
indelman
jing
Alex Trevor