Alex Cunningham
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e2bc13a2a6
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Renaming gradients -> jacobians
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2009-12-18 03:05:47 +00:00 |
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Alex Cunningham
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a1918056a5
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Changed NonlinearConstraints to take cost and gradient functions that do not take the list of keys. Tests have been reconstructed using boost::bind
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2009-12-18 02:39:02 +00:00 |
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Alex Cunningham
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7d0de77fc6
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Changed argument ordering for constraints
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2009-12-18 01:40:29 +00:00 |
Frank Dellaert
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9efac7b3fb
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Some re-naming and re-formatting only
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2009-12-15 05:34:49 +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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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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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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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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36877532ad
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Added ground truth for VSLAM example in testSQP
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2009-11-23 16:45:53 +00:00 |
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Alex Cunningham
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1fd0404ec9
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Cleanup in testSQP, also demoed the unary constraint, as well.
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2009-11-21 19:05:24 +00:00 |
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Frank Dellaert
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a0a250750b
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compare config
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2009-11-21 04:22:59 +00:00 |
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Alex Cunningham
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08f5b074a0
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Added verbosity selector for the SQP demo to remove printouts every time it runs
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2009-11-20 14:29:11 +00:00 |
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Alex Cunningham
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5f848f272b
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SQP demo that moves maps into the correct reference frames is now working using the NonlinearConstraint machinery.
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2009-11-20 14:05:21 +00:00 |
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Alex Cunningham
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6aba2f1c1c
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Changed initial SQP example to use exmap using the new scaling function for VectorConfig
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2009-11-20 05:13:32 +00:00 |
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Alex Cunningham
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ee4a066275
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Implemented linearization and equality for unary NonlinearConstraints. Current tests use a scalar example. Split out implementation into a separate implementation file.
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2009-11-20 03:04:49 +00:00 |
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Alex Cunningham
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429f27550c
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Added a NonlinearConstraint and testNonlinearConstraint. There is currently an abstract base class for constraints and a partially implemented unary constraint.
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2009-11-19 16:50:18 +00:00 |
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Alex Cunningham
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f98f49381a
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Added an example to testSQP to use for combining graphs
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2009-11-18 21:57:59 +00:00 |
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Alex Cunningham
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d700cd2cac
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Made some small changes to testSQP to simplify the system and improve convergence.
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2009-11-18 20:23:07 +00:00 |
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Alex Cunningham
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7fc68e2d90
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Updated testSQP to use a real SQP implementation as separate factors on the previous problem. SQP now works.
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2009-11-18 19:42:14 +00:00 |
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Alex Cunningham
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20830a1534
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Added testSQP demo to show a simple problem solved by Sequential Quadratic Programming. To see the outputs, set verbose=true at the start of the test.
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2009-11-16 19:12:56 +00:00 |