e539738fd0
Remove support for dual keys. Added finished() after all matrices and vectors. Remove buildDualGraph from GaussianFactorGraph. Remove support for multipliedHessians for non-linear equality constraints.
2014-12-12 17:23:31 -05:00
e12add2739
Merged in develop (pull request #71 ). Resolve conflicts.
2014-12-12 15:34:53 -05:00
06b82ce3e3
Clean up the code
2014-12-04 23:30:27 -05:00
558bee685e
Remove tests associated with older version (Yong-Dian) of BlockJacobiPreconditioner::build
2014-12-04 22:57:44 -05:00
7760a802ab
Remove tests using deprecated testable functions (getBuffer, getBufferSize)
2014-12-04 22:33:53 -05:00
c2b5b152a4
Change the noise model as non-isotropic in the test of PCG solver with a simple linear system
2014-12-04 22:14:46 -05:00
f3bbe604d6
temporary printing out for test
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Fix Eigen comma initialization
2014-12-01 05:07:43 -05:00
b601eb0f92
Add temporary tests
2014-12-01 05:04:17 -05:00
332b3f9da9
Add tests for preconditioner and solver
2014-12-01 05:02:02 -05:00
72644b8ff3
Fixed headers
2014-11-26 17:31:40 +01:00
c2e38633b5
Merge remote-tracking branch 'origin/develop' into feature/BAD_custom_chart
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Conflicts:
gtsam_unstable/nonlinear/ExpressionFactor.h
2014-11-26 11:20:56 +01:00
084de3350e
Formatting
2014-11-25 08:47:25 +01:00
e34a237162
Merged in feature/ordering (pull request #34 )
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METIS Ordering
2014-11-24 18:04:35 -05:00
f9ca07e610
Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax
2014-11-23 10:22:25 -08:00
aa093a35da
Updated all comma initializer usages to use .finished()
2014-11-22 16:35:27 -08:00
a9e3545a29
Merge remote-tracking branch 'origin/release/3.2.0' into feature/quadratic_programming
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This should make merging in develop easier, and it also helps me understand what changed.
I mostly avoided conflicts by keeping Duy's versions of:
Conflicts:
gtsam/3rdparty/metis-5.1.0/CMakeLists.txt
gtsam/linear/JacobianFactor-inl.h
gtsam/linear/NoiseModel.cpp
gtsam/nonlinear/NonlinearFactor.h
and a number of other files. In particular, I did not upgrade Eigen or remove metis.
The following unit tests fail in this branch:
The following tests FAILED:
2 - testWrap (Failed)
85 - testGeneralSFMFactor (SEGFAULT)
142 - testIMUSystem (Failed)
178 - testTSAMFactors (Failed)
2014-11-22 15:18:09 +01:00
36a485169d
Refactor Ordering parameters. Now compiles and passes with gcc
2014-11-17 16:16:52 -05:00
e2aef1b325
Merge remote-tracking branch 'origin/develop' into feature/BAD
2014-11-14 01:31:49 +01:00
fed2c8b684
added missing square matrix specialization - without it, square to square cases would be ambiguous.
2014-11-10 16:35:23 +01:00
6d04309dfb
* cleaned up and optimized a bit the Eigen matrices' DefaultChart
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* also added a few unit tests more for those chars
2014-11-09 17:48:52 +01:00
9f765c7496
micro cleanup
2014-11-09 10:27:23 +01:00
6cfc4c45d2
* implemented traits::identity for Eigen matrices
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* simplified the traits::dimension for Eigen matrices
* added some tests for traits::identity and traits::zero
* got rid of a compiler warning (signed vs. unsigned) in Matrix.cpp
2014-11-08 13:51:24 +01:00
7bbd0513f4
Add the first unit test for Block-Jacobi Preconditioner
2014-11-06 23:14:52 -05:00
a89781a9e6
Add some comments
2014-11-06 14:26:46 -05:00
c332a44c5e
No more LieVector
2014-11-04 15:44:20 +01:00
d06de2f044
Reverted to LieScalar until Prior and Between factors fixed
2014-11-04 14:26:50 +01:00
b5327673fb
Get rid of LieVector
2014-11-03 11:02:15 +01:00
492c607f9e
No more Lie types
2014-11-03 09:27:40 +01:00
82f6ed5ca8
inserted spaces after commas
2014-10-28 14:15:34 +01:00
bc094951ed
all values in Values container are now a ChartValue<ValueType, Chart=DefaultChart<ValueType> >
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ChartValues are GenericValues and a Chart, which defaults to DefaultChart
had to make charts functional (ie no storage of the chart origin) so that they could be zero sized base class
otherwise there would have been a double of the memory for values (ones for the value, and once for the chart origin, which default to the same)
most tests work, execept for serialization based stuff, and const filtering of values.
2014-10-28 00:57:44 +01:00
5a792c8847
No Cayley in quaternion mode
2014-10-22 21:55:35 +02:00
06af482d61
Added test for Rot3 - all is good
2014-10-21 23:07:38 +02:00
224b71d696
Created testManifold
2014-10-21 12:54:28 +02:00
e46a8b05eb
Some mode readable matrix types
2014-10-11 23:06:57 +02:00
20fb8ab77d
Build a dual graph to compute dual values for equality constrained factors
2014-09-13 01:36:04 -04:00
6d697f2c92
heuristic in EliminationPreferCholesky to work around the Indeterminant exception while solving linear constrained systems.
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Instead of turning Hessian factors into Jacobian factors -- so that they can be eliminated with constrained Jacobian factors using the special QR in Constrained's noise model -- we combine all Hessian factors, eliminate the variable first to have a conditional and a new factor 1, then combine the constrained Jacobians with this conditional (also a Jacobian) to eliminate again, producing the final conditional, and a new factor 2. The two new factors are then combined into a new Hessian factor to be returned.
2014-09-11 14:51:35 -04:00
7a658e0347
relaxed tolerance a tiny bit to make test pass with Boost 1.56
2014-08-14 00:25:49 -04:00
946cc5338a
Merge branch 'develop' into feature/timing_scripts_build
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Conflicts:
gtsam_unstable/CMakeLists.txt
2014-06-21 08:55:49 -07:00
17426d0076
subgraph preconditioner revised
2014-06-15 23:14:06 -04:00
67398f0f13
add BlockJacobiPreconditioner class and unit test
2014-06-08 16:15:00 -04:00
e8d3809917
add new generic pcgsolver and preconditioner classes
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add a unit test for the PCGSolver class
2014-06-08 00:34:23 -04:00
fe235b1209
Building timing scripts using new timing script support in GtsamTesting.cmake. Fixed compile errors in timing scripts but disabled a couple.
2014-06-07 19:02:11 -07:00
515b612ca0
Merge branch 'develop'
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Conflicts:
.cproject
2014-05-28 18:59:04 -04:00
2af4b4ec4c
commented test on spanning forest
2014-05-28 18:56:44 -04:00
386ed2e510
Merge branch 'develop'
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Conflicts:
gtsam_unstable/slam/SmartFactorBase.h
2014-05-28 18:11:39 -04:00
f6ad0a1920
fixes with Frank
2014-05-16 19:22:35 -04:00
b8300c3b0a
Improved function findMinimumSpanningTree to cope with general graphs (and added comments)
2014-05-14 17:39:59 -04:00
0d957084c0
fixed unit test on findMinimumSpanningTree
2014-05-14 17:21:32 -04:00
d725dd4816
Renamed unit tests that still had 'Unordered' in the name
2014-05-07 18:19:11 -07:00
92c9e9c0aa
Fixed "unused" warnings
2014-05-03 12:23:49 -04:00
krunalchande
thduynguyen
Sungtae An
dellaert
Chris Beall
Richard Roberts
HannesSommer
Mike Bosse
Yong-Dian Jian
Luca