dellaert
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df91cf7fad
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Made vaguely unsafe keysAndDims private (as it relies on keys and dimensions being in same order), as to not tempt people to use it.
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2014-11-25 12:36:52 +01:00 |
|
dellaert
|
2c35cda71f
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Yet another indirection makes public code a bit cleaner.
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2014-11-25 11:23:38 +01:00 |
|
dellaert
|
07e5475b6b
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Making friends...
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2014-11-25 11:02:54 +01:00 |
|
dellaert
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e0248c3ca7
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Created keysAndDims and safe version of values
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2014-11-25 10:53:34 +01:00 |
HannesSommer
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6cc7b17687
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proposal to fix alignment in BAD (issue #154)
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2014-11-23 13:51:47 +01:00 |
|
HannesSommer
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4966f5a942
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mini cleanup and improve comment TODO
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2014-11-17 11:18:09 +01:00 |
Mike Bosse
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11416cac65
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Merge branch 'feature/BAD' into feature/BAD_generic_value_traits
Conflicts:
gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
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2014-11-02 19:00:30 +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 |
|
Mike Bosse
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80187362b8
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attemping to expose ChartValue for expressions with non DefaultCharts, but needs testing
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2014-10-28 11:20:02 +01:00 |
|
dellaert
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bf16446f92
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Deal with traits changes
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2014-10-21 01:26:17 +02:00 |
|
dellaert
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8ee16c9018
|
Comments for Paul
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2014-10-19 11:19:09 +02:00 |
|
dellaert
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6e142184cc
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Implemented is_manifold and dimension for all types in testExpressionFactor
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2014-10-19 00:35:25 +02:00 |
|
dellaert
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0bcca2c386
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Drastic reduction in allocations at ExpressionFactor construction by having dims constructed imperatively, and using it for both keys_ and dimensions_
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2014-10-16 14:16:58 +02:00 |
|
dellaert
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944422e295
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Only ExpressionFactor needs dimensions! Also, add dimensions at construction -> speeds up linearize.
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2014-10-16 11:15:47 +02:00 |
|
dellaert
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79ff0c54f9
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createUnknowns
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2014-10-15 10:38:54 +02:00 |
|
dellaert
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baaeaacabe
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Made dimensions constant property. Now performance is ***blazing***, way past custom factors.
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2014-10-14 17:46:57 +02:00 |
|
dellaert
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c971207abf
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Switched to vector for dimensions
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2014-10-14 17:16:31 +02:00 |
|
dellaert
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1c3f328fb2
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Successful switch to Blocks !
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2014-10-14 15:43:41 +02:00 |
|
dellaert
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d8d94d0c34
|
dimensions implemented and tested
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2014-10-14 09:53:47 +02:00 |
|
dellaert
|
dda91df6e1
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On the way to full fusion: Optional meta-function now separate from Jacobian.
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2014-10-13 18:32:58 +02:00 |
|
dellaert
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1c1695353e
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Now we can apply ExecutionTrace and Expression as meta-functions
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2014-10-13 13:04:37 +02:00 |
|
dellaert
|
7fde47c48b
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No more JacobianTA typedefs -> all use Jacobian<T,A> now.
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2014-10-13 09:25:06 +02:00 |
|
dellaert
|
107bcd8bb4
|
Going forwards, we default to reverse :-)
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2014-10-12 22:04:40 +02:00 |
|
dellaert
|
4d1eb05c7d
|
Passing JacobianMap as an argument now..
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2014-10-12 20:16:08 +02:00 |
|
dellaert
|
ecf6462a25
|
Victory!! Unit tests work!
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2014-10-11 13:07:58 +02:00 |
|
dellaert
|
599e232d1d
|
traceSize, two tests work
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2014-10-11 12:11:22 +02:00 |
|
dellaert
|
9585823d5d
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...but works with correct size !
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2014-10-11 11:32:52 +02:00 |
|
dellaert
|
05f78b6dca
|
Re-factor, allow traceExecution
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2014-10-11 11:29:42 +02:00 |
|
dellaert
|
69b69a0bc8
|
placement new works! And sophisticated Trace::print
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2014-10-11 11:03:35 +02:00 |
|
dellaert
|
eef2d49e8d
|
First prototype, segfaults
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2014-10-11 10:27:30 +02:00 |
|
dellaert
|
23485a0e71
|
New and consistent naming: ExecutionTrace = whole tree, CallRecord = local information left by the function.
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2014-10-10 17:45:39 +02:00 |
|
dellaert
|
5e5457b390
|
Renamed entry point to startReverseAD to emphasize it is only called once
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2014-10-09 13:42:43 +02:00 |
|
dellaert
|
9ebe1e6d10
|
Super-speedup by specializing to 2-dimensional output (for now). Using some template magic.
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2014-10-08 23:50:17 +02:00 |
|
dellaert
|
ce2dcaeb3b
|
Tagged union, lightweight
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2014-10-08 15:39:59 +02:00 |
|
dellaert
|
c4a92acde1
|
Avoid argument temporaries
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2014-10-07 19:35:44 +02:00 |
|
dellaert
|
3c1c9c6d12
|
Switch to pointers - nice improvement
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2014-10-07 18:11:12 +02:00 |
|
dellaert
|
e4392c0a3b
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JacobianTrace no longer templated
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2014-10-07 16:11:55 +02:00 |
|
dellaert
|
613cb0bb12
|
Binary functions now take fixed Jacobians
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2014-10-07 01:01:46 +02:00 |
|
dellaert
|
0ed96dda33
|
Avoid alloc and copy
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2014-10-06 12:14:15 +02:00 |
Sungtae An
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0a7db2d252
|
Merge remote-tracking branch 'origin/feature/BAD' into feature/BAD
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2014-10-05 16:16:19 -04:00 |
|
Sungtae An
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40565564f5
|
TernaryExpression is added
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2014-10-05 16:09:24 -04:00 |
|
dellaert
|
5b13306104
|
Split out starting the AD process vs. propagating it, is more efficient than starting with a useless identity matrix
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2014-10-05 19:27:52 +02:00 |
|
dellaert
|
caf742d5e1
|
Better names
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2014-10-05 17:20:55 +02:00 |
|
dellaert
|
001504a432
|
JacobianTrace base, and avoid copying JacobianMaps.
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2014-10-05 17:12:38 +02:00 |
|
dellaert
|
fdf9c10b42
|
Implemented value and now testBADFactor also runs
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2014-10-05 15:00:10 +02:00 |
|
dellaert
|
8e527a2251
|
Binary Trace compiles, runs
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2014-10-05 13:27:41 +02:00 |
|
dellaert
|
303d37a716
|
Separate hierarchy
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2014-10-05 11:22:14 +02:00 |
|
dellaert
|
6fb10a5de9
|
Rename, emphasizing is forward AD
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2014-10-03 21:13:34 +02:00 |
|
dellaert
|
a5b92f0342
|
MUCH simpler by just using boost::bind to turn methods into functions
|
2014-10-03 13:18:25 +02:00 |
|
dellaert
|
bdf5451565
|
Typedefs
|
2014-10-03 12:52:35 +02:00 |