dc31ef143a
fix bug in NoiseModel signs for ineq weights. Unittest dual graph
2014-04-15 06:07:41 -04:00
c2378204ef
QPSolver in progress. Finish building dual graph, but not tested.
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Use mixed constrained noise with sigma < 0 to denote inequalities.
Working set implements the active set method, turning inactive inequalities
to active one as equality constraints by setting their corresponding sigmas to 0
and vice versa. Dual graph now has to deal with mixed sigmas.
2014-04-14 22:57:55 -04:00
a2c3b8e083
remove changes in gtsam/linear/NoiseModel.cpp to fix unit test failures
2014-01-27 15:13:37 -05:00
837085e5d4
Merge branch 'origin/release/2.4.0'
2014-01-25 11:45:59 -05:00
b08e889222
removed assertion that apparently fails in a bunch of places
2014-01-04 20:13:00 -05:00
dfb3e60171
Fixed issue with serialization by actively changing inf/nan values to zero in constrained noisemodel. Updated WhitenInPlace() and distance(). Apparently this caused a bunch of other unit tests to fail, though.
2014-01-04 20:01:05 -05:00
f8fbfaea50
Use precisions_ where possible
2014-01-04 10:14:59 -05:00
a3003a0736
Merge branch 'origin/release/2.4.0'
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Mainly improvements in EssentialMatrix stuff, but also has the new precisions in the diagonal noise model.
2014-01-04 00:29:32 -05:00
6f64b20a5b
The precisions are used many many times in HessianFactor::updatATA, so I added them to the NoiseModel. The invsigmas are no longer optional and hence do not cause extra allocation at every invocation. Same with precision: returns const &
2014-01-02 18:05:44 -05:00
d5271dfff7
fixed warning
2013-10-30 12:08:58 +00:00
2e3520e0dd
Fixed some warnings
2013-10-12 21:06:19 +00:00
bf40956592
Merged from Hmf6_unordered 970392249a8c50153f24594c9c81acb740cedd06
2013-10-03 19:51:56 +00:00
2ad0cd4417
Fixed compile error on linux
2013-10-03 19:10:13 +00:00
19602bbb0b
Fixed warning
2013-10-03 16:50:18 +00:00
95ac34aeeb
Updating Hessian in-place instead of computing Hessian for each Jacobian
2013-10-03 16:50:16 +00:00
63ff1b47c1
support augmented matrices in Matrix's vector_scale_in_place, Constrained's Whiten, WhitenInPlace, and unit(...). These are used in constraints SQP solver with Lagrange multipliers.
2013-10-02 03:52:08 +00:00
0bb5d1595d
Added Cauchy noise model contributed by Jan Oberländer
2013-09-16 20:58:58 +00:00
e2f8dd866d
Merge branch 'svn/trunk'
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Conflicts:
gtsam/linear/GaussianBayesTree.cpp
gtsam/linear/GaussianBayesTree.h
gtsam/linear/VectorValues.h
gtsam/linear/tests/testVectorValues.cpp
gtsam_unstable/nonlinear/sequentialSummarization.cpp
2013-08-06 18:33:24 +00:00
cee0a234ac
Fixing compile problems
2013-08-06 17:50:50 +00:00
ef99e1bf1a
add some comments for Constrained model
2013-08-02 13:29:54 +00:00
941cd93bf6
Returning empty noise model from QR and fix for backwards-compatibility in old code
2013-07-12 22:27:44 +00:00
4718acdabc
Put back returning Unit model instead of null from QR for compatibility with old code
2013-07-09 17:50:47 +00:00
316befbd2a
Added tic
2013-07-01 20:19:28 +00:00
6eafc9420e
update namespace mEstimator for unittests
2013-02-08 00:47:52 +00:00
25226602c3
change namespace "MEstimator" to "mEstimator" to wrap robust noise models to matlab. Add Tukey.
2013-02-07 19:19:33 +00:00
89b50e7679
Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
2012-10-02 20:18:41 +00:00
4876cc7ff7
Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list)
2012-10-02 18:36:39 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
c323f41e8f
Fixed silently ignoring robust noise model when calling whiten on one - now throws exception. Also added function to whiten only the rhs vector in robust noise models.
2012-09-25 18:45:28 +00:00
7d02043855
Removed unused include
2012-08-27 13:21:48 +00:00
5ddd28ba18
Removed unused noise model cholesky
2012-08-22 22:40:20 +00:00
b6ddb2197b
Removed unused "zero_below_diagonal" flag in Matrix QR
2012-08-22 22:40:04 +00:00
6f1ea87a00
clean up noise model: Remove Shared[NoiseModel] classes and headers, typedef for backward compatibility in NoiseModel.h. Fix all tests and examples to create shared noise models through static functions in noise model classes. Fix MATLAB wrapper and examples as well. Add tests for MATLAB examples
2012-06-22 19:36:49 +00:00
18ba9bcb3d
Removed sample() functions and global random number generator
2012-06-22 16:38:01 +00:00
0a3d9975f3
adding smart flags for several static noise model creation function
2012-06-19 06:04:31 +00:00
dacff98f9f
Using boost timer instead of chrono to support older boost versions
2012-06-05 20:03:31 +00:00
861d1d7dbd
Fixed small formatting glitches
2012-05-21 05:17:35 +00:00
08b87be4b5
Fixed parenthesis typos
2012-04-09 13:21:14 +00:00
0fe13ae3ca
Fixed noisemodel compile error, moved remaining nonlinear constraints to NonlinearEquality
2011-11-10 02:05:03 +00:00
98410ca5c9
Merge branch 'unified_constraints'
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Conflicts:
gtsam/linear/NoiseModel.cpp
gtsam/linear/NoiseModel.h
gtsam/linear/tests/testNoiseModel.cpp
2011-11-09 22:15:40 +00:00
70afdfb7d3
Added mu to noisemodel
2011-11-09 22:09:52 +00:00
5a7b2e0692
Added default string to print methods
2011-11-05 14:26:41 +00:00
af3c12a7df
Implemented N-way factor base class in NoiseModelFactor, added NonlinearFactor{3-6}, adapted NonlinearFactor1,2,3 and NonlinearConstraint1,2,3 to derive from NoiseModelFactor in a minimal way
2011-10-03 04:24:24 +00:00
b456733cd0
add comments and unit test
2011-09-11 04:39:28 +00:00
24ea02fe69
Documentation and TODO
2011-09-09 21:16:57 +00:00
e9504bd470
add a null model for comparison
2011-08-29 04:51:17 +00:00
25cd24409a
add an option to reweight according to scalar or block
2011-08-28 02:47:17 +00:00
fd07d61a2e
Add a robust noise model. Change SharedGaussian to SharedNoiseModel
2011-08-26 21:41:01 +00:00
a22586362b
Changed the default Matrix to use column major, rather than row major. Removed Matrix-inl.h, as it isn't used
2011-06-04 22:15:23 +00:00
2e942f08ac
Removed some extraneous comments from eigen transition
2011-05-20 18:43:37 +00:00
thduynguyen
jing
dellaert
Alex Cunningham
Frank Dellaert
Richard Roberts
Alex Cunningham
Chris Beall
Yong-Dian Jian