43778a6ed3
--update the distance() of robust noise model
...
--add a nonlinear optimization unit test using robust noise model
2012-11-06 22:42:01 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
01bcd9e939
Removed SLAM namespace from testNonlinearOptimizer
2012-07-23 22:47:31 +00:00
1bf3ae51a9
Fixed make check compile error
2012-06-24 14:49:52 +00:00
2d0ce1c3ca
Streamlining of SLAM namespaces:
...
planarSLAM Values and Graph now derive from Pose3SLAM.
visualSLAM Values and Graph now derive from pose3SLAM.
Several methods have been renamed to make them consistent through these 4 namespaces:
addPrior -> addPosePrior
addHardConstraint -> addPoseConstraint
addOdometry/addConstraint -> addRelativePose
All gtsam and matlab examples/tests run.
PS: please don't use the deprecated typedefs in these namespaces.
2012-06-24 02:48:12 +00:00
6f1ea87a00
clean up noise model: Remove Shared[NoiseModel] classes and headers, typedef for backward compatibility in NoiseModel.h. Fix all tests and examples to create shared noise models through static functions in noise model classes. Fix MATLAB wrapper and examples as well. Add tests for MATLAB examples
2012-06-22 19:36:49 +00:00
3d2c3aff05
Moved all Simulated* example domains and smallExample to the tests folder so they are no longer installed
2012-06-09 20:15:44 +00:00
8440939f27
Using symbol_shorthand instead of redundant kx, kl functions
2012-06-02 19:28:21 +00:00
a2512475c9
Symbol.h is now included just in time, no longer by default everywhere.
2012-06-02 19:05:38 +00:00
5160c2eb50
Significant API change in slam (GTSAM 2.0.1 or 2.1): to eliminate confusion and give the user more freedom in creating their own Keys, the different slam variants no longer create Symbol keys themselves. Instead, all interaction is done via Keys (which are just unordered, unsigned ints). All PoseSLAM unit tests and examples now just use sequential keys. However, a user can still create Keys using the Symbol constructor, which is illustrated in the landmark-based unit tests and examples.
2012-06-02 16:18:40 +00:00
ace4327897
reorg the nonlinear/linear parameters to accommodate the iterative solvers
2012-05-25 15:26:30 +00:00
18e23c20df
Added missing header
2012-05-22 12:27:34 +00:00
1ce95c1d89
Removed LDL in favor of Cholesky
2012-05-15 15:49:14 +00:00
68467448a7
Fixed small LM bug (solving original instead of damped system) and added unit test
2012-05-15 13:23:43 +00:00
9e0996296a
Added Cholesky/LDL switch in NonlinearOptimizer, preparing to remove
...
LDL, remove dependency of NonlinearOptimizer on linear solvers.
2012-05-15 05:08:57 +00:00
754e289737
Fixed errors in unit tests from updated NonlinearOptimizers
2012-05-14 22:31:42 +00:00
4b541e1f62
Unit tests now compile with new NonlinearOptimizer
2012-05-14 21:07:56 +00:00
829bb1f8aa
Added 'optimized' shortcut function to optimize and return Values directly
2012-03-23 22:43:59 +00:00
cdd89a43f5
DoglegOptimizer unit tests
2012-03-23 03:43:28 +00:00
b8ad7b2a0c
Fixed bugs, all unit tests pass
2012-03-22 18:02:25 +00:00
be386ed6bd
All unit tests compile
2012-03-22 17:46:43 +00:00
3a1175323c
Fixing compilation errors
2012-03-01 16:07:23 +00:00
e7e64e945b
GaussNewtonOptimizer, started LevenbergMarquardtOptimizer
2012-02-27 01:18:36 +00:00
1d0aaacbd6
Removed use of GTSAM_MAGIC_KEY for constructing Symbols from strings
2012-02-22 23:38:09 +00:00
a3797e3cdb
Int keys with formatter objects, all unit tests pass
2012-02-21 00:53:35 +00:00
3d40f5e6fc
All unit tests pass with TypedSymbol removed
2012-02-07 04:58:11 +00:00
820b33bd55
(2.0_prep branch) Merged in virtual_values branch
2012-02-03 17:18:32 +00:00
26cdf28421
Renamed DynamicValues to Values and removed specialized derived Values classes
2012-02-02 16:16:46 +00:00
98f2d47f58
most tests passed, except testPose2SLAMwSPCG, testGaussianISAM2, testNonlinearEquality, testNonlinearFactorGraph, testProjectionFactor, testVSLAM
2012-01-30 04:34:46 +00:00
63dc9399b9
refactored Pose2SLAM
2012-01-28 02:31:44 +00:00
7c87a4f58d
Included the inline header at the bottom of SubgraphSolver, NonlinearFactorGraph, NonlinearOptimization, and NonlinearOptimizer. This avoids having to include the '-inl.h' in subsequent projects.
2011-12-20 23:25:43 +00:00
964af8b21c
Commented use of GTSAM_MAGIC_KEY
2011-08-18 13:18:26 +00:00
fa4faa274a
Merge branch 'prep_0.9.3'
2011-06-13 16:55:31 +00:00
07820af903
Fixed crashes when doing linearize/solve on nonlinear factor graphs with NULL factors
2011-03-29 19:51:50 +00:00
7407843214
Reworked nonlinear optimizer so that it only uses a solver member variable if you are using spcg. SPCG may be broken at this point, and its member variable will be removed soon.
2011-02-10 16:01:29 +00:00
06b08c6f85
Fixed bug with shared solvers in recursive LM nonlinear optimizer
2011-02-10 16:01:28 +00:00
719e851643
Added a functional version of LM optimization for comparison
2011-02-06 04:13:32 +00:00
e726f7c7af
remove backward compatible functions in NonlinearOptimizer
2010-11-21 22:00:22 +00:00
2c90e3d836
Moved the subdirectories that compile into libgtsam.la into a 'gtsam' subdirectory. Hopefully a good fix for the problem we had trying to make a gtsam distribution, that the source directory may not be called 'gtsam'.
2010-10-25 20:10:33 +00:00
69c6d05ce1
config() changed to values() for consistency
2010-10-22 19:29:15 +00:00
1d94dacca0
make check passes with dense qr using lapack geqrf
2010-10-22 03:51:10 +00:00
bc36e653fd
depend on external CCOLAMD and DenseQR
2010-10-16 01:55:47 +00:00
24d499039f
prepend license information on all the codes
2010-10-14 04:54:38 +00:00
07bda5aa97
Changed linear config names to *Values, updated comments
2010-10-09 03:09:58 +00:00
1d52ff90a8
Merged simplelinear branch into trunk
2010-10-08 22:04:47 +00:00
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
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
0316a53f79
Removed spurious "using namespace noiseModel"
2010-08-08 03:10:29 +00:00
7e3442286e
Added a Gauss-Newton static function for nonlinear optimization
2010-08-06 15:10:19 +00:00
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
Yong-Dian Jian
Chris Beall
Stephen Williams
Frank Dellaert
Duy-Nguyen Ta
Alex Cunningham
Richard Roberts
Kai Ni