Frank Dellaert
|
266fc56dea
|
Gradient using new operator^ and errors method
|
2009-12-27 12:13:31 +00:00 |
|
Frank Dellaert
|
7d1428de60
|
Added Errors class and operator* for GaussianFactor and GaussianFactorGraph. Also moved a few functions to cpp.
|
2009-12-26 22:48:41 +00:00 |
|
Frank Dellaert
|
6614434b83
|
System version of CG
|
2009-12-26 21:25:45 +00:00 |
Richard Roberts
|
8d3918e7f9
|
Typo made testPose2Factor not build on Linux
|
2009-12-26 19:31:02 +00:00 |
|
Frank Dellaert
|
f3965b07ca
|
Conjugate Gradient Descent template (in progress)
|
2009-12-26 15:06:54 +00:00 |
|
Frank Dellaert
|
886c7dcdcc
|
formatting and comments
|
2009-12-26 15:06:21 +00:00 |
|
Frank Dellaert
|
8dbf79706e
|
commented out two broken tests
|
2009-12-26 15:05:55 +00:00 |
Michael Kaess
|
4403b51fcd
|
isam functionality separated into ISAM class, still within BayesTree
|
2009-12-26 04:44:13 +00:00 |
|
Frank Dellaert
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2cb52694b5
|
Multiply with transpose sugar A'*v = A^v
|
2009-12-25 17:52:58 +00:00 |
|
Michael Kaess
|
80ff7e6d26
|
uncommented urban In Makefile.am as it prevents linking; added Pose2Prior; ISAM2/planar now working
|
2009-12-24 23:44:08 +00:00 |
|
Richard Roberts
|
92b60a8543
|
Made 'between' derivatives in the tangent space of the solution instead of tangent space of identity, this makes Pose2 an "origin-free" manifold.
|
2009-12-21 16:43:23 +00:00 |
|
Frank Dellaert
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d0b757da48
|
remove method to set factor to NULL
|
2009-12-20 21:21:01 +00:00 |
justinca
|
3158a5c7c1
|
Rework UrbanMeasurement to be more efficient, less duplicate code. Add real unit tests for the class
|
2009-12-20 14:59:37 +00:00 |
|
Frank Dellaert
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d362fa13d8
|
print is more intuitive using reverse order
|
2009-12-20 11:56:33 +00:00 |
|
Frank Dellaert
|
18c44e0d1f
|
Comments only
|
2009-12-20 10:32:34 +00:00 |
|
justinca
|
7012fd2857
|
UrbanMeasurement first pass at implementation. Still need to add test data, sort out some details.
|
2009-12-18 19:43:55 +00:00 |
|
Richard Roberts
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82825a30bf
|
Fixed unit test broken by fix in Pose2Factor
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2009-12-18 14:42:19 +00:00 |
|
Frank Dellaert
|
b14094cb1f
|
testUrbanOdometry
|
2009-12-18 07:15:19 +00:00 |
|
Frank Dellaert
|
d11d674c01
|
addOdometry now works
|
2009-12-18 06:55:44 +00:00 |
|
Frank Dellaert
|
c987ab397c
|
error_vectors
|
2009-12-18 06:55:24 +00:00 |
|
Frank Dellaert
|
bf504d30db
|
new concatVectors call
|
2009-12-18 06:11:19 +00:00 |
|
Frank Dellaert
|
ac72d1cc22
|
renamed transformPose_to to transform_to, composeTransform to compose, and changed nr. of arguments of Dtransform_to2 (to two)
|
2009-12-18 05:36:53 +00:00 |
|
Frank Dellaert
|
eaf27af92d
|
error_vector and error unit-tested
|
2009-12-18 05:18:31 +00:00 |
|
Frank Dellaert
|
edb72d305f
|
better error message, formatting
|
2009-12-18 05:16:09 +00:00 |
|
Frank Dellaert
|
0194926dc2
|
transpose not needed
|
2009-12-18 05:14:34 +00:00 |
|
Frank Dellaert
|
c9bd327961
|
formatting
|
2009-12-18 05:14:08 +00:00 |
Alex Cunningham
|
e2bc13a2a6
|
Renaming gradients -> jacobians
|
2009-12-18 03:05:47 +00:00 |
|
Frank Dellaert
|
a3deb992c4
|
use BOOST_FOREACH
|
2009-12-18 02:48:21 +00:00 |
|
Alex Cunningham
|
a1918056a5
|
Changed NonlinearConstraints to take cost and gradient functions that do not take the list of keys. Tests have been reconstructed using boost::bind
|
2009-12-18 02:39:02 +00:00 |
|
Frank Dellaert
|
5a0bc8ab53
|
remove binaries
|
2009-12-18 02:30:05 +00:00 |
|
Frank Dellaert
|
cf1fde7bda
|
UrbanFactor, UrbanGraph.cpp, template instantiations
|
2009-12-18 02:27:50 +00:00 |
|
Alex Cunningham
|
7d0de77fc6
|
Changed argument ordering for constraints
|
2009-12-18 01:40:29 +00:00 |
|
Frank Dellaert
|
7dfc67860c
|
unit tests for new Urban* classes
|
2009-12-18 01:24:28 +00:00 |
|
Alex Cunningham
|
d75a602546
|
Removed failed test testSQPOptimizer
|
2009-12-18 01:24:19 +00:00 |
|
Richard Roberts
|
ff817551de
|
Added FactorGraph::replace(index, factor) to replace one factor with another (used in FrameSLAM).
|
2009-12-18 00:13:38 +00:00 |
|
Richard Roberts
|
3c0ae0ec1c
|
Math fix in linearize() and error_vector()
|
2009-12-18 00:10:20 +00:00 |
|
Richard Roberts
|
7161878285
|
Small changes: standardized constructors, added log() and unit tests, removed +,- ops, angle() changed to theta(), print functions
|
2009-12-18 00:09:54 +00:00 |
Viorela Ila
|
d61d92c0e7
|
UrbanGraph class and testUrbanGraph TODOs
|
2009-12-17 21:23:50 +00:00 |
|
Frank Dellaert
|
68de3ae715
|
better comments
|
2009-12-17 19:34:27 +00:00 |
Manohar Paluri
|
dc9a966fdd
|
moved shared pointer declaration to Cal3_S2.h
|
2009-12-17 10:02:43 +00:00 |
|
Richard Roberts
|
3326759f0b
|
Removed extra ;
|
2009-12-16 21:41:33 +00:00 |
|
Richard Roberts
|
c45f64657f
|
Changes to make Pose2Config work with NonlinearOptimizer
|
2009-12-16 21:40:41 +00:00 |
|
Richard Roberts
|
83c95f2343
|
Changed constructor used from Pose2(t,R) to Pose2(R,t)
|
2009-12-16 21:39:03 +00:00 |
|
Frank Dellaert
|
9efac7b3fb
|
Some re-naming and re-formatting only
|
2009-12-15 05:34:49 +00:00 |
|
Richard Roberts
|
94f986bbe7
|
Indentation
|
2009-12-15 00:00:02 +00:00 |
Chris Beall
|
a7a5e5e816
|
small performance improvement by using a pointer to address r
|
2009-12-14 16:56:50 +00:00 |
|
Richard Roberts
|
71bc9ca0f7
|
Added unit tests that were missing
|
2009-12-14 15:45:45 +00:00 |
|
Richard Roberts
|
971b575715
|
Fix duplicate definition error by adding 'inline' to checkConvergence
|
2009-12-14 06:10:51 +00:00 |
|
Michael Kaess
|
2270c7d787
|
BayesTree animation
|
2009-12-14 06:01:15 +00:00 |
|
Richard Roberts
|
c4b60bfd65
|
Closing # 118: Made Pose2 use Rot2, added 'compose' for Pose2, made slight modifications to Rot2. Also added additional unit tests. This change shouldn't break anything but let me know if it does.
|
2009-12-14 03:02:05 +00:00 |
|
Michael Kaess
|
0116b3a515
|
severe bug fixed in updating of Bayestree
|
2009-12-13 20:54:48 +00:00 |
|
Viorela Ila
|
d5d70d7751
|
gradientDescent_ and conjugateGradientDescent_ works in matlab
|
2009-12-13 03:02:14 +00:00 |
|
Frank Dellaert
|
6e3f36dc63
|
Trying different orderings
|
2009-12-12 12:53:39 +00:00 |
|
Frank Dellaert
|
2914d663de
|
No print in tests
|
2009-12-12 06:18:59 +00:00 |
|
Frank Dellaert
|
c38683cd64
|
Sped up and fixed (?) sparse
|
2009-12-12 06:18:29 +00:00 |
|
Frank Dellaert
|
99533f286f
|
Vanilla Conjugate Gradient Descent works
|
2009-12-12 04:44:34 +00:00 |
|
Frank Dellaert
|
2a2963b7dd
|
Added a numerical gradient calculation test
|
2009-12-12 04:13:12 +00:00 |
|
Frank Dellaert
|
56a4172480
|
Fixed printing in matlab
|
2009-12-12 04:12:24 +00:00 |
|
Chris Beall
|
be10fc2a90
|
18% performance boost by using pointer to address destination matrix A
|
2009-12-11 23:59:37 +00:00 |
|
Viorela Ila
|
631248f902
|
no print yet
|
2009-12-11 23:16:57 +00:00 |
|
Viorela Ila
|
570c6a3c71
|
print method for Pose2Graph
|
2009-12-11 23:00:52 +00:00 |
|
Viorela Ila
|
8a9f05059c
|
implement getOrdering_ to work in matlab
|
2009-12-11 22:53:48 +00:00 |
|
Frank Dellaert
|
a1e90af90f
|
exmap that takes Vector
|
2009-12-11 22:43:34 +00:00 |
|
Frank Dellaert
|
137291b2c9
|
Vector-like operators
|
2009-12-11 21:38:08 +00:00 |
|
Frank Dellaert
|
e46cfbd7c4
|
fixed bug in sum
|
2009-12-11 21:37:52 +00:00 |
|
Frank Dellaert
|
bca489384e
|
dot product
|
2009-12-11 21:37:40 +00:00 |
|
Viorela Ila
|
76b55aba7d
|
linearize method for Pose2Graph works in Matlab!!
|
2009-12-11 21:34:08 +00:00 |
|
Viorela Ila
|
03304ac421
|
testPose2Graph tests linearize
|
2009-12-11 19:32:46 +00:00 |
|
Frank Dellaert
|
a66f08a5e0
|
testing new alphaFactor
|
2009-12-11 18:03:43 +00:00 |
|
Frank Dellaert
|
f91a1f0192
|
error_vector
|
2009-12-11 17:42:54 +00:00 |
|
Frank Dellaert
|
abc268a13d
|
quick cleanup - expmap comments
|
2009-12-11 14:22:35 +00:00 |
|
Frank Dellaert
|
16e1f6e56d
|
use Vector_ for conciseness
|
2009-12-11 05:28:19 +00:00 |
|
Frank Dellaert
|
726858145a
|
gradient descent (with fixed nr. of iterations, choosing optimal step size)
|
2009-12-11 04:59:05 +00:00 |
|
Frank Dellaert
|
299fcf1e04
|
scale is const !
|
2009-12-11 04:57:31 +00:00 |
|
Frank Dellaert
|
c57501eddd
|
fix macro so GTSAM_PRINT(*foo) works
|
2009-12-11 04:57:14 +00:00 |
|
Frank Dellaert
|
7151e7b24a
|
new constructor from vector
|
2009-12-11 04:56:29 +00:00 |
|
Frank Dellaert
|
4af2382105
|
Gradient at solution is zero !
|
2009-12-11 02:59:09 +00:00 |
|
Chris Beall
|
532ea0ae36
|
fixed weird error that several of us have been experiencing with GaussianBayesTree.h appearing twice in the install command. fixed by moving Symbolic inference section above Inference Section.
|
2009-12-11 01:38:45 +00:00 |
|
Viorela Ila
|
1a96534016
|
add Pose2Graph
|
2009-12-10 23:45:38 +00:00 |
|
Frank Dellaert
|
e7a912bd3b
|
Calculate gradient of factor graph objective function.
|
2009-12-10 20:19:15 +00:00 |
|
Frank Dellaert
|
67e1897e47
|
Get and [] now return references, new imperative add method
|
2009-12-10 20:17:11 +00:00 |
|
Frank Dellaert
|
81ce0bef88
|
New operator for left-multiplication of vector
|
2009-12-10 20:16:40 +00:00 |
|
Michael Kaess
|
2df0e49e9b
|
optimize works for GaussianBayessTree
|
2009-12-10 17:00:11 +00:00 |
|
Frank Dellaert
|
f44af12836
|
Renamed variable
|
2009-12-10 15:34:09 +00:00 |
|
Frank Dellaert
|
d26664d975
|
Convenience functions for adding factors
|
2009-12-10 15:33:52 +00:00 |
|
Viorela Ila
|
e0274dab59
|
Pose2Config constructor
|
2009-12-10 04:12:41 +00:00 |
|
Viorela Ila
|
072dea81b0
|
rename Pose2Constraint using Pose2Factor
|
2009-12-09 23:43:01 +00:00 |
|
Manohar Paluri
|
cee3f2a355
|
fixed recursive inclusion. Was giving error when you build gtsam
|
2009-12-09 22:53:44 +00:00 |
|
Frank Dellaert
|
db0d7286c2
|
Fixed Michael's c++ trubbles.
|
2009-12-09 22:15:38 +00:00 |
|
Michael Kaess
|
72ba1bee24
|
separate cpp
|
2009-12-09 22:02:50 +00:00 |
|
Frank Dellaert
|
7d4de3ec20
|
Added a 1D manifold implementation of 2D rotations. The new representation stores (cos theta, sin theta) rather than theta itself, ensuring that (a) rotate and unrotate do not call cos/sin, (b) same for all derivatives of rotate and unrotate, (c) when you call angle(), you always get the standardized answer given by atan2. The idea is that we will use this new type in Pose2 instead of angle.
|
2009-12-09 21:50:27 +00:00 |
|
Chris Beall
|
91370a9d7a
|
added public iterator typedefs to VSLAMConfig to make it easier for other code to consume the optimization results.
|
2009-12-09 21:47:23 +00:00 |
|
Manohar Paluri
|
1ec93f05cd
|
added a test case which uses getOrdering instead of defining the order manually.
|
2009-12-09 21:22:16 +00:00 |
|
Frank Dellaert
|
a9dc57db2c
|
|
2009-12-09 21:00:53 +00:00 |
|
Michael Kaess
|
ffa009d3ff
|
accidentially checked in
|
2009-12-09 20:56:03 +00:00 |
|
Michael Kaess
|
34e913e236
|
optimization over cliques started
|
2009-12-09 20:49:04 +00:00 |
|
Viorela Ila
|
638b174541
|
Pose2Constraint works in matlab
|
2009-12-09 19:55:25 +00:00 |
|
Michael Kaess
|
4200271cf4
|
GaussianBayesTree added, testBayesTree split
|
2009-12-09 19:39:25 +00:00 |
|
Chris Beall
|
a4a552ea86
|
fixed bug concerning variable keys not being saved.
|
2009-12-09 19:13:02 +00:00 |
|
Chris Beall
|
3b3c76b273
|
cleaned up, and removed Testable here because it's already provided by base class FactorGraph
|
2009-12-09 19:11:45 +00:00 |