Richard Roberts
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685d4d7da2
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Added check and exception for incompatible noise model dimension in JacobianFactor
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2012-06-22 15:24:57 +00:00 |
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Richard Roberts
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d57fc32e74
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To simplify FactorGraph, removed convertCastFactors and dynamicCastFactors from FactorGraph - replaced their calls with in-place code to do the needed conversions
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2012-06-18 14:55:30 +00:00 |
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Richard Roberts
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97f52c5643
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Cleaned up boost bind dependency
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2012-06-07 16:12:55 +00:00 |
Yong-Dian Jian
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a9c36fc172
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move linear algebra functions for jacobian factor graph to a new file
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2012-06-07 01:24:19 +00:00 |
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Richard Roberts
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6e2312294c
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Added computeInformation function to GaussianFactor to properly compute information matrix including noise models, and using it to fix bug in Marginals where noise model was not being accounted for (only affects when hard constraints are used)
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2012-05-23 20:56:22 +00:00 |
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Richard Roberts
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510e2eacac
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More progress in compiling on windows
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2012-05-22 22:52:17 +00:00 |
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Richard Roberts
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1ce95c1d89
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Removed LDL in favor of Cholesky
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2012-05-15 15:49:14 +00:00 |
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Richard Roberts
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91e7dc5882
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Caching linearized factors in iSAM2, improves speed when linearization is expensive
Merge remote-tracking branch 'svn/branches/iSAM2_cache_linearized' into trunk
Conflicts:
.cproject
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2012-04-11 14:17:59 +00:00 |
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Richard Roberts
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7243a9870b
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Using vector::assign instead of erase in JacobianFactor::eliminate, caused invalid iterator on some STL implementations
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2012-04-09 13:21:16 +00:00 |
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Richard Roberts
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22ebe16a31
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Merge remote-tracking branch 'svn/branches/incremental_dogleg_points_to_merge' into trunk
Conflicts:
.cproject
gtsam/linear/GaussianBayesTree-inl.h
gtsam/linear/GaussianBayesTree.cpp
gtsam/linear/GaussianBayesTree.h
gtsam/nonlinear/DoglegOptimizerImpl.h
gtsam/nonlinear/GaussianISAM2-inl.h
gtsam/nonlinear/GaussianISAM2.cpp
gtsam/nonlinear/GaussianISAM2.h
gtsam/nonlinear/ISAM2-impl.cpp
gtsam/nonlinear/ISAM2-inl.h
gtsam/nonlinear/ISAM2.h
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2012-03-23 04:31:54 +00:00 |
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Richard Roberts
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d577655f1b
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Removed problematic 'inline'
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2012-03-23 04:05:51 +00:00 |
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Yong-Dian Jian
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30557ce4a5
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remove a small overhead
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2012-03-15 17:23:01 +00:00 |
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Richard Roberts
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4137cfe9d7
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Added missing copy constructor for GaussianConditional, and assignment operators for GaussianConditional, JacobianFactor, and HessianFactor that properly copy the block matrices (require calling a special function because they contain references)
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2012-01-22 05:16:12 +00:00 |
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Richard Roberts
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099f170bf2
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Better error message when trying to convert a negative HessianFactor to a JacobianFactor
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2012-01-20 17:20:56 +00:00 |
|
Richard Roberts
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ffd01c7a7d
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Removed unneeded TODO's
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2012-01-18 21:22:05 +00:00 |
|
Richard Roberts
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4b95a2799b
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Bug fix in converting HessianFactor to JacobianFactor - had to zero out lower triangle of eliminated matrix. Additional unit tests to catch this.
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2012-01-18 20:44:27 +00:00 |
Alex Cunningham
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927217ba4b
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Cleanup from FactorGraph-inl.h
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2011-12-21 16:59:37 +00:00 |
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Richard Roberts
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6e1136ba20
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(in branch) Separate gradient functions for FactorGraph, BayesNet, BayesTree, and BayesTree with ISAM2 Cliques (specialized for using stored gradient contributions in ISAM2 cliques)
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2011-12-13 22:51:28 +00:00 |
Frank Dellaert
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58d83f704f
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Documentation and headers
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2011-10-29 04:00:14 +00:00 |
|
Richard Roberts
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2c53df3ee7
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Simplified VectorValues interface and implementation, slight simplification to Permuted<>
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2011-10-26 02:04:06 +00:00 |
|
Frank Dellaert
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fabde56642
|
Doxygen
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2011-10-22 19:56:26 +00:00 |
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Richard Roberts
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63ca74e492
|
Fixed bug in multifrontal marginals caused by backwards permutations with LDL (seems to be an inconsistency in Eigen?). Added GaussianConditional constructor from any number of frontal and parent variables. Added several new unit tests on marginals. Fixed small bug in GaussianConditional non-const get_d_ and get_R_ functions that didn't account for multiple frontal variables.
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2011-09-23 02:50:46 +00:00 |
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Alex Cunningham
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3c7836cf4d
|
comments only
|
2011-06-13 20:40:44 +00:00 |
|
Alex Cunningham
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fa4faa274a
|
Merge branch 'prep_0.9.3'
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2011-06-13 16:55:31 +00:00 |
|
Richard Roberts
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5ea18829b5
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Fixed code comments to indicate that assertInvariants does not check for sorted keys
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2011-06-04 12:54:43 +00:00 |
|
Alex Cunningham
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79c09708e8
|
Assorted cleanup to remove ublas references, switch more Vector/Matrix utility functions to use Eigen in templates, reimplemented backsubstitution with Eigen
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2011-06-02 20:35:02 +00:00 |
|
Alex Cunningham
|
2e942f08ac
|
Removed some extraneous comments from eigen transition
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2011-05-20 18:43:37 +00:00 |
|
Alex Cunningham
|
e20561be73
|
Merge branch 'eigen'
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2011-05-20 13:52:08 +00:00 |
|
Frank Dellaert
|
e635b21154
|
made keys_ and nrFrontals_ private to ensure correct constructors are called
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2011-03-25 16:57:28 +00:00 |
|
Frank Dellaert
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5c193422af
|
Major change, elimination functions are now passed an "Eliminate function", so you can select at run-time which factorization method is used (symbolic, QR, etc...).
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2011-03-24 19:27:12 +00:00 |
|
Richard Roberts
|
85ed6c306d
|
Renamed typedef name Conditional to ConditionalType
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2011-03-01 17:16:43 +00:00 |
|
Richard Roberts
|
62b3db9535
|
Documentation for FactorBase, ConditionalBase, IndexFactor, IndexConditional
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2011-02-15 16:22:35 +00:00 |
|
Richard Roberts
|
12664813d4
|
Avoiding extra work of converting from JacobianFactor to HessianFactor, instead updating HessianFactor directly
|
2011-02-07 22:30:31 +00:00 |
|
Richard Roberts
|
0339a33de0
|
Using Eigen to combine HessianFactors
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2011-02-07 02:49:58 +00:00 |
|
Richard Roberts
|
bdbc09ba42
|
Added GaussianFactorGraph::sparseJacobian function to create a sparse Jacobian matrix suitable for Matlab
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2011-02-04 03:56:47 +00:00 |
|
Richard Roberts
|
689adead55
|
Using granular debugging flags, fixed code comment
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2011-02-04 02:36:14 +00:00 |
|
Richard Roberts
|
24fbe9b02b
|
Correct conversion from unsorted HessianFactor (to sorted JacobianFactor) - will soon re-standardize sorting. Also checking for non-finite values in assertInvariants
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2011-02-04 01:01:29 +00:00 |
|
Richard Roberts
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4880257e69
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Merging hessianfactor branch, Cholesky is now default and GaussianFactor is virtual (see email to frankcvs)
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2011-01-20 22:22:00 +00:00 |
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Richard Roberts
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a8a584d38e
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Rolling back last commit (undoing merge of hessianfactor branch) - does not compile on Linux, could be compiler or boost version problems. Also will probably break Alex's stuff so will work that out before merging.
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2010-12-17 01:11:28 +00:00 |
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Richard Roberts
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de1892016d
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Merged in hessianfactor branch, Cholesky is now default. This merge also includes improved timing statements with automatic outlining and low overhead
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2010-12-17 00:51:51 +00:00 |