Frank Dellaert
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db0d7286c2
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Fixed Michael's c++ trubbles.
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2009-12-09 22:15:38 +00:00 |
Michael Kaess
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72ba1bee24
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separate cpp
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2009-12-09 22:02:50 +00:00 |
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Frank Dellaert
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7d4de3ec20
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Added a 1D manifold implementation of 2D rotations. The new representation stores (cos theta, sin theta) rather than theta itself, ensuring that (a) rotate and unrotate do not call cos/sin, (b) same for all derivatives of rotate and unrotate, (c) when you call angle(), you always get the standardized answer given by atan2. The idea is that we will use this new type in Pose2 instead of angle.
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2009-12-09 21:50:27 +00:00 |
Chris Beall
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91370a9d7a
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added public iterator typedefs to VSLAMConfig to make it easier for other code to consume the optimization results.
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2009-12-09 21:47:23 +00:00 |
Manohar Paluri
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1ec93f05cd
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added a test case which uses getOrdering instead of defining the order manually.
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2009-12-09 21:22:16 +00:00 |
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Frank Dellaert
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a9dc57db2c
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2009-12-09 21:00:53 +00:00 |
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Michael Kaess
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ffa009d3ff
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accidentially checked in
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2009-12-09 20:56:03 +00:00 |
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Michael Kaess
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34e913e236
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optimization over cliques started
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2009-12-09 20:49:04 +00:00 |
Viorela Ila
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638b174541
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Pose2Constraint works in matlab
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2009-12-09 19:55:25 +00:00 |
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Michael Kaess
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4200271cf4
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GaussianBayesTree added, testBayesTree split
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2009-12-09 19:39:25 +00:00 |
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Chris Beall
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a4a552ea86
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fixed bug concerning variable keys not being saved.
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2009-12-09 19:13:02 +00:00 |
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Chris Beall
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3b3c76b273
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cleaned up, and removed Testable here because it's already provided by base class FactorGraph
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2009-12-09 19:11:45 +00:00 |
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Viorela Ila
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b87aa58c1f
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add Pose2Constraint class
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2009-12-09 17:29:43 +00:00 |
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Manohar Paluri
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f764772106
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added getOrdering unit test
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2009-12-09 15:25:50 +00:00 |
Richard Roberts
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e43548d03a
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A couple more "missing" .hpp files for newer gcc :-)
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2009-12-08 22:49:57 +00:00 |
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Michael Kaess
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9bbea6dcbd
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some additional includes needed with newer compiler
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2009-12-08 21:40:09 +00:00 |
Alex Cunningham
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d7c67532bf
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Changed format of Matrix::vector_scale() to switch arguments
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2009-12-08 21:10:38 +00:00 |
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Frank Dellaert
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066b80e02e
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Pose2Constraint, initial check in with working linearize
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2009-12-08 20:48:39 +00:00 |
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Frank Dellaert
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16da0895a8
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square_root_inverse
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2009-12-08 20:48:13 +00:00 |
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Frank Dellaert
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d1ab2c7288
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transform_to and between, with derivatives, unit-tested
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2009-12-08 19:12:20 +00:00 |
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Frank Dellaert
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6ead19648f
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Modernized Pose2 constraint and added numerical derivative check
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2009-12-08 14:02:56 +00:00 |
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Frank Dellaert
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152fa0069a
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fixed expected, actual nomenclature in assert_equal: always use (expected, equal) order
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2009-12-08 13:53:33 +00:00 |
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Viorela Ila
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95260281d1
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add testFunctions (h, H1, H2) for Pose Constraint
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2009-12-07 23:17:03 +00:00 |
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Richard Roberts
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53af03368f
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Fixed indentation
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2009-12-07 22:51:49 +00:00 |
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Manohar Paluri
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e244e22c6a
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added probability function that computes the probability of a BinaryBayesNet given a config.
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2009-12-07 07:12:01 +00:00 |
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Manohar Paluri
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115d9a8adf
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replaced pow with bit shift operator, changed constructor to take p(x|parents) and created cpt inside the constructor.
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2009-12-07 03:25:25 +00:00 |
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Manohar Paluri
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28eb550781
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Used a map for config
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2009-12-07 00:49:13 +00:00 |
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Manohar Paluri
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b9e15ee789
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Added cpt to BinaryConditional
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2009-12-06 23:28:46 +00:00 |
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Manohar Paluri
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60a3a21d5a
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Binary Bayes Net, incomplete
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2009-12-06 21:46:46 +00:00 |
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Frank Dellaert
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2a4e90a283
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Re-factored append_factor to use FOREACH_PAIR
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2009-12-05 02:00:20 +00:00 |
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Chris Beall
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e98081f92c
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changes to append_factor which give more than 2x speedup on my data. Matrices in As are no longer copied/edited/replaced each time they need to be changed, but created once and then updated in place.
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2009-12-04 21:03:32 +00:00 |
Eohan George
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ae9789c9ee
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Cleaner printing with tabs after each element
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2009-12-02 23:01:49 +00:00 |
Kai Ni
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5bde26a885
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odprintf is an auxiliary function to printf for Win32 compatibility
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2009-12-02 19:37:54 +00:00 |
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Alex Cunningham
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e26acc0d8d
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Changed nonlinear constraints to use boost.bind to handle arbitrary function objects for evaluating cost, useful for parameterizing cost functions.
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2009-12-01 19:45:47 +00:00 |
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Viorela Ila
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c00252a8f6
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add method combine to GaussianFactorGraph in gtsam.h
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2009-12-01 16:01:29 +00:00 |
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Alex Cunningham
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a3ce3f31c8
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Cleanup with NonlinearConstraints to make the active() function do thresholding for inequality constraints, rather than constraint function itself.
testSQP now has all tests active and passing.
Added greaterThanOrEqual() for vector comparison.
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2009-11-30 17:36:34 +00:00 |
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Alex Cunningham
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1799f59388
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Added a function for the SQPOptimizer that will iterate until convergence. At the moment, the convergence conditions are quite simple (error below threshold or too many iterations). The system does, however, strictly limit the number of iterations.
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2009-11-28 22:49:14 +00:00 |
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Alex Cunningham
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1525253123
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Inequality Constraints now work in a simple obstacle-avoidance demo in testSQPOptimizer. It should be noted that convergence conditions are still not implemented.
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2009-11-28 21:44:07 +00:00 |
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Alex Cunningham
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395e4ae3f1
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Fixed sign issue on nonlinear constraints, so that that it is not necessary to flip the sign on the delta configs before using exmap.
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2009-11-28 21:00:09 +00:00 |
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Alex Cunningham
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0ff7e3a5d9
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Changed interface on constraint g(x) and grad_g(x) functions to take a list of keys, so that all of the variables in a factor can be used as necessary. Moved g(x) into base NonlinearConstraint class and some cleanup.
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2009-11-28 19:18:02 +00:00 |
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Alex Cunningham
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107c6846fb
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Added basic inequality constraint handling to NonlinearConstraint. Demo still in progress, but now constraints are explicitly handled as either equality or inequality constraints, with an active() function to determine if it is necessary to use the constraint.
Created testOrdering for new subtract() function to remove parts of an ordering.
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2009-11-28 18:35:36 +00:00 |
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Alex Cunningham
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f3e825767b
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NonlinearConstraints now handle inactive constraints (when the state is already in the feasible region) by returning empty factors on linearization.
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2009-11-27 18:42:01 +00:00 |
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Alex Cunningham
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cf6474c99b
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Added a graph implementation for multi-robot control systems. Currently can only really constrain the ends of a trajectory.
Made a number of fixes and updates to the ControlConfig as well.
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2009-11-27 17:59:03 +00:00 |
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Alex Cunningham
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2a2e11d05d
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Added the config and units for a robot control system example that keeps a position and velocity model of a robot's motion.
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2009-11-26 05:52:17 +00:00 |
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Alex Cunningham
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43e4c66407
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Added more detail to VSLAM test that diverges.
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2009-11-24 16:03:57 +00:00 |
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Alex Cunningham
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d788e9833d
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Added tests to ensure that configs will only update existing values when using exmap and not add new ones if there are more values in the delta config. VectorConfig and VSLAMConfig both do this properly now.
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2009-11-24 15:12:59 +00:00 |
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Alex Cunningham
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e3e79e3888
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Added lagrange access function to the SQPOptimizer
Added a test testSQP to try changing the initial Lagrange multiplier values to find a way around the stability problem, but there is no effect.
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2009-11-24 14:44:46 +00:00 |
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Alex Cunningham
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140e79572f
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Added a test to testSQP to check VSLAM solution stability when the initial config is away from the ground truth. The test without the nonlinear constraints has the same stability problem, and both the constrained and unconstrained versions are in place and disabled.
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2009-11-24 14:14:03 +00:00 |
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Alex Cunningham
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fec280db8e
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Added a nonlinear constraint version of the stereo SQP example, but the test when the initial configuration is incorrect is not stable and the points continue moving away indefinitely.
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2009-11-24 06:39:27 +00:00 |
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Alex Cunningham
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31856ce598
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SQPOptimizer can now do its own initialization of the Lagrange multipliers.
Cleaned up NonlinearConstraint
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2009-11-23 22:10:52 +00:00 |