Commit Graph

1216 Commits (e5b3e127a8ced83cf3045e7eaf84a2258f30eca4)

Author SHA1 Message Date
Alex Cunningham e5b3e127a8 Re-enabled tests for wrap 2010-08-19 21:24:22 +00:00
Richard Roberts 84f38206d3 Added myconfigure.overo for cross-compiling for gumstix 2010-08-19 20:16:07 +00:00
Alex Cunningham 8e364cb34e Improvements to the Lie objects, with new member/static functions in most of the geometry objects. Many of the functions that were previously global have been moved to static functions. See Lie.h for more details. 2010-08-19 20:03:06 +00:00
Richard Roberts f1132359d4 Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs) 2010-08-19 17:23:19 +00:00
Alex Cunningham 30c3f46b52 FusionTupleConfigs work correctly for optimization 2010-08-16 19:19:50 +00:00
Alex Cunningham 977155d133 Added simpler interfaces for FusionTupleConfig for 1,2, and 3 variable types 2010-08-15 21:35:03 +00:00
Alex Cunningham a2fecf51c9 FusionTupleConfig is now a full config 2010-08-14 21:15:45 +00:00
Alex Cunningham f3ccfaf100 Added dummy initialization of LieConfigs from arbitrary other LieConfigs, FusionTupleConfigs can now be created from arbitrary other FusionConfigs. 2010-08-13 19:51:04 +00:00
Alex Cunningham f6dbee41d2 More of FusionTupleConfig works 2010-08-13 14:55:26 +00:00
Alex Cunningham c2a83759cb Added experimental replacement for TupleConfig using boost.fusion - this should eventually make it possible to make nonlinear factors interchangable regardless of config type. 2010-08-12 15:23:03 +00:00
Alex Cunningham 3fd36bca53 Added TupleConfig1 wrapper 2010-08-12 12:44:36 +00:00
Alex Cunningham 6aff189008 Enabled pragma once for Lie-inl.h to avoid redefinition errors 2010-08-10 19:50:12 +00:00
Alex Cunningham 5991d1edfd Added a nonlinear factor to approximate a linear factor from MastSLAM 2010-08-10 16:59:22 +00:00
Alex Cunningham 16d283d1e1 Added "TestableAssertions.h" as a header file to add specializations for operations on Testable objects, like assert_equal for vectors of Testable objects. The separate header file is so that changes don't require recompiling the entire library. 2010-08-10 16:58:42 +00:00
Alex Cunningham 1c72d92365 Moved TransformConstraint into gtsam, cleaned up includes 2010-08-10 14:30:41 +00:00
Alex Cunningham 4f9a60d41c Nonlinear bounding constraints are now working for simple examples. Also, removed extraneous constraint test files. 2010-08-09 21:59:29 +00:00
Alex Cunningham efaca162cf Added tests for nonlinear equality constraints, generalized equality constraints 2010-08-09 17:21:11 +00:00
Alex Cunningham 38ea7d1ea5 Added more static optimization helper functions - can now just call optimizeLM(graph,config) or optimizeGN(graph,config) to get an optimized config. 2010-08-09 17:20:03 +00:00
Richard Roberts fa4cf73e8e Changed some int's to size_t's that I missed earlier 2010-08-09 03:48:33 +00:00
Frank Dellaert 6694b395c5 moved Stereo camera and StereoPoint to gtsam 2010-08-08 20:23:38 +00:00
Frank Dellaert 62c63f9452 collapsed derivatives for threefold speedup 2010-08-08 19:50:41 +00:00
Frank Dellaert 4b6eb67340 moved timing scripts back to main directory, added timeCalibratedCamera 2010-08-08 18:46:56 +00:00
Frank Dellaert 4bc3229670 -F Accelerate does not seem to work on all platforms. Replaced by explicit include. 2010-08-08 16:59:15 +00:00
Richard Roberts 0316a53f79 Removed spurious "using namespace noiseModel" 2010-08-08 03:10:29 +00:00
Alex Cunningham 5ada49ea3a Moved remaining equality constraint tests to testNonlinearEqualityConstraint. Added NonlinearEquality2, a binary constraint expressing exact equality between variables. 2010-08-06 20:07:55 +00:00
Alex Cunningham a55860eb1d Reimplemented nonlinear constraints to remove the old dependency on using boost function pointers and allow for inequality and bounding constraints. Added simple equality constraints in simulated2D and new set of tests. Removed/disabled old tests until they can be worked into new structure. 2010-08-06 18:30:07 +00:00
Alex Cunningham 7e3442286e Added a Gauss-Newton static function for nonlinear optimization 2010-08-06 15:10:19 +00:00
Alex Cunningham 3dfbb26bc7 Added new test structures that allow for nonfatal assertions: EXPECT, EXPECT_DOUBLES_EQUAL, EXPECT_LONGS_EQUAL. Use these to check several unrelated conditions in a test. testTupleConfig was updated to make use of the new test structures. 2010-08-06 14:23:12 +00:00
Alex Cunningham 99e4c09a7e Added a FixedVector class that uses a bounded boost vector to allow for type-level dimension specification 2010-08-02 19:01:00 +00:00
Kai Ni 71074b2188 avoid constructing and deconstructing btree overhead and speed up the multi-frontal solver 2010-07-31 07:19:03 +00:00
Alex Cunningham 27c009d792 Added new constructors for PlanarSLAM graphs 2010-07-30 17:07:10 +00:00
Alex Cunningham 7c2ad06016 Added clear() and empty() to TupleConfig 2010-07-30 16:19:52 +00:00
Kai Ni bc3032b9a0 fixed compilation error 2010-07-29 06:26:23 +00:00
Alex Cunningham d1ae7132ac Added constructor to upgrade a TypedSymbol to a labeled symbol 2010-07-26 17:23:18 +00:00
Alex Cunningham 82a160074a Removed the test from testGaussianFactor from an old MAST failure case - as it turns out, the system had inconsistent dimensions, which is why elimination crashed out. 2010-07-23 13:25:27 +00:00
Alex Cunningham d6157ab828 Added a static nonlinear optimization function that uses default ordering and thresholds and returns an updated config. 2010-07-22 21:17:02 +00:00
Alex Cunningham cf2b3db5a6 Added CHECK_EXCEPTION() that can test whether an operation throws a specific exception, and used it in example tests 2010-07-20 14:51:00 +00:00
Kai Ni bde73355b8 fixed duplicated symbols between simulated2D and planarSLAM 2010-07-20 14:38:27 +00:00
Richard Roberts 8628ef8ed2 Bug fix in SPQRUtils makeStairs and corresponding unit test. Copied only part of matrix when any row in A had greater than m leading zeros. 2010-07-20 06:12:10 +00:00
Alex Cunningham d938f92844 Replaced instances of PairConfig with TupleConfig2, cleaned up documentation on TupleConfigs 2010-07-19 19:55:24 +00:00
Alex Cunningham 750269e986 testWrap now works by passing in the actual path to the right place 2010-07-19 18:42:32 +00:00
Kai Ni 2a2bc2f70f multi-frontal solver works now as a result of flight delay 2010-07-18 20:23:23 +00:00
Alex Cunningham a3da89b63a NonlinearConstraints are now implemented using the simple linearization method with quadratic merit function 2010-07-18 19:55:53 +00:00
Frank Dellaert 864b66ea93 Added dummy c++ file to make library compile even if no enable_ldl 2010-07-17 15:04:49 +00:00
Alex Cunningham 230e124e68 Small changes to handle non out of source builds and makefile fixes. 2010-07-17 01:13:03 +00:00
Michael Kaess 2fc7e47952 removed excess print statements 2010-07-16 21:57:07 +00:00
Alex Cunningham 7fc184eba4 Added the ability to check if an operation throws the correct exception 2010-07-16 19:53:53 +00:00
Alex Cunningham 7b85dc3ff4 CppUnitLite will now catch exceptions and tell you the error and the line number of the failing test. This is to avoid having to hunt for crashing tests out of a large battery of tests. Look at the results of the (still failing) wrap/testWrap for an example. 2010-07-16 19:30:38 +00:00
Alex Cunningham 3438f89526 Removed the ldl library and added in a configure flag --enable-ldl to pull in ldl. Currently, it's probably a bad idea to actually use ldl, however, and nothing important is effected by its absense. 2010-07-16 18:16:18 +00:00
Alex Cunningham 8396783d0c Moving linear tests into subfolder 2010-07-16 17:11:52 +00:00