8572cd17ad
Fix bug when constructing VariableSlots
...
from a GaussianFactorGraph that has null factors.
2019-11-09 17:05:42 -08:00
4877bdb4f3
Caught some stragglers using boost::optional<Ordering>
2019-10-20 03:20:14 -04:00
1733f3ac98
convert all optional Ordering to function overloads
...
compiles and passes tests, but some potentially code-breaking changes in:
Marginals.h - order of arguments had to change since `factorization` has a default value
EliminatableFactorGraph.h - marginalMultifrontalBayesNet and marginalMultifrontalBayesTree no longer accept `boost::none` as a placeholder to specify later arguments
Notes:
EliminateableFactorGraph.h - `orderingType` is no longer needed in function overloads that specify ordering, but I left it for the time being to avoid potential code breaking
2019-10-20 01:15:20 -04:00
38982ae4aa
changed function name and made it static
2019-10-18 00:23:06 +08:00
dcb82920ea
fix default parameters in constructor of IncrementalFixedLagSmoother.h
2019-10-17 21:32:21 +08:00
a614e5efa1
Merge pull request #115 from borglab/fix/absolute-value
...
C++11 Absolute Value
2019-09-19 07:45:40 -04:00
ff1f37c26f
replaced fabs with c++11 std::abs
2019-09-18 18:30:26 -04:00
4949d6988c
Fix compilation of PartialPriorFactor
2019-09-07 15:48:30 -04:00
438b4ff014
more DLL warnings & errors fixed
2019-07-18 11:09:08 +02:00
52b0579a9b
Consistent dllexport.h across gtsam & gtsam_unstable
2019-07-18 08:22:41 +02:00
e28fb84fef
Added document explaining GTSAM_EXPORT usage rules
2019-07-15 11:43:54 -04:00
7f43054c37
Refactor build flags via CMake target properties
...
Also:
- Allow users to edit cmake target build options in the cache variables.
- We had to add project() commands for gtsam and gtsam_unstable,
the PROJECT_SOURCE_DIR changed, but the root GTSAM_SOURCE_DIR instead.
- Ensure use of standard C++11 (no extensions)
2019-06-15 23:09:54 +02:00
da09428110
Merge pull request #67 from borglab/feature/housekeeping
...
Housekeeping
2019-06-15 13:53:02 -04:00
b8292399d6
renamed all READMEs to README.md and updated markdown syntax
2019-06-13 17:26:07 -04:00
5017f3e774
Merge remote-tracking branch 'origin/develop' into fix/38_SmartRangeExamples-2
2019-06-12 18:21:53 -04:00
5b686d3ec3
Fixed warning
2019-06-12 15:33:25 -04:00
6bcbfe2c67
Tightened odometry sigmas to avoid ILS
2019-06-11 20:42:54 -04:00
c007c7715c
Duplicate measurements are disallowed -> leads to duplicate keys in JacobianFactor
2019-06-11 20:42:35 -04:00
30644e9590
Fix file handling (removed absolute paths)
2019-06-11 20:41:56 -04:00
692959f0f3
Fix for issue #38 (gcc specific issue, but fix works for all)
2019-06-11 20:41:56 -04:00
0a95ac292f
Removed useless typedef, add empty()
2019-06-01 17:34:24 -04:00
a1096a6f3b
Fix bug: iSAM2 won't update() with smart factors
2019-05-27 12:26:54 +02:00
77d56cb2eb
Add iSAM2+Stereo factor unit test to reveal bug #10
...
fix test
2019-05-27 12:26:53 +02:00
22d9b162d2
Fix more clang issues with FactorIndices
2019-05-18 20:51:00 -07:00
5fe891a1c3
Change FastVector<size_t> to FactorIndices to make clang happy
2019-05-18 19:47:58 -07:00
67b65f9845
Merge remote-tracking branch 'origin/develop' into feature/improvementsIncrementalFilter
2019-05-17 22:19:27 -04:00
e8d76b7e8e
Using auto
2019-05-16 22:29:50 -04:00
8801de4d63
Pose3 naming convention
2019-05-16 15:06:15 -04:00
b2e5dadcdb
Merge branch 'develop' of https://bitbucket.org/gtborg/gtsam into fix/trailing_whitespaces
...
# Conflicts:
# gtsam/symbolic/tests/testVariableIndex.cpp
# gtsam_unstable/gtsam_unstable.h
# gtsam_unstable/linear/RawQP.cpp
# gtsam_unstable/linear/RawQP.h
2019-05-12 09:26:28 -04:00
e6c1ad8d04
Moved visitor inside parser unit.
2019-04-26 14:47:54 -04:00
31556ff981
Cleaned up QPSVisitor and fixed KeyVector compile issue on Ubuntu
2019-04-24 20:10:23 -04:00
a450ba1e55
Merge remote-tracking branch 'origin/develop' into feature/LPSolver
...
# Conflicts:
# gtsam_unstable/linear/QPSVisitor.h
# gtsam_unstable/linear/RawQP.cpp
2019-04-24 16:08:50 -04:00
7b6eaa4333
removed unused typedefs
2019-04-13 22:05:49 -04:00
97de0e3c82
Compilation fixes
2019-04-11 10:49:45 -04:00
99aa09ce54
Merged in jlblancoc/gtsam/index-type-for-factors (pull request #409 )
...
Type for Factor indices, dual to "Key"
2019-04-08 23:07:02 +00:00
4fb718a943
prefer auto in range for loops
2019-04-09 00:29:31 +02:00
285ebd7dbd
Type for Factor indices, dual to "Key"
...
This avoids a couple of confusing uses of KeySet to refer to lists of
Factors, and makes code more readable where formerly using size_t to
index factors.
2019-04-08 09:08:43 +02:00
1304d26e81
exit()-> throw ( Closes #427 )
2019-04-07 23:59:53 +02:00
140c666c41
Moved DSFMap to gtsam
2019-04-04 09:22:22 -04:00
970664b928
Merged develop into feature/improvementsIncrementalFilter
2019-03-25 13:26:20 -04:00
fe3741e466
Fix broken file
2019-03-07 14:25:05 -05:00
f4bf0d5b0b
Update unstable.h file to match upstream
2019-03-07 14:23:11 -05:00
9a3d517925
Make documentation on .cpp file more specific
2019-03-06 17:49:40 -05:00
7d2e4d2e64
Fix warning message in the unit tests/examples
2019-03-06 17:47:34 -05:00
93fd884aa7
Implement and add example
2019-02-27 04:37:02 -05:00
dbc0799765
Init uncomment of fixed lag smoother
2019-02-27 01:57:39 -05:00
1cdc228d6a
remove trailing spaces
2019-02-11 10:58:34 -05:00
de420692a5
Change again to getISAM2Result, wo get it is ambiguous
2019-01-29 16:12:19 -05:00
9ea90b5b45
port to target-based compile options and definitions
...
This also fixes CMake warnings on Windows
2019-01-24 10:35:26 +01:00
23df961b5e
Udpate comment for factorsToRemove
2019-01-21 18:10:40 -05:00
4cfe84e523
Rename factorToRemove to factorsToRemove
2019-01-21 18:03:38 -05:00
8e7e5aaf5c
Specify that member ISAM2Result refers to struct
2019-01-21 16:56:38 -05:00
642f839b7d
Refactor getISAM2Result to ISAM2Result, and return const &
2019-01-21 16:15:56 -05:00
80a827457e
Move implementation of print function for Result to .cpp
2019-01-21 16:13:32 -05:00
8039ed94af
Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/improvementsIncrementalFilter
...
* 'develop' of bitbucket.org:gtborg/gtsam: (43 commits)
metis: rely on global BUILD_SHARED_LIBS"
missing GTSAM_BUILD_STATIC_LIBRARY flags
Fix testExpression
attempt to fix alignment error in expression factors
Fix alignment crash in numerical derivative with march=native
Imported TBB targets; update gtsam_unstable cmake
git ignore qtcreator IDE files
fixed typo in description
changed the SFMdata functions so that it allows the passage of function arguments to generate a trajectory; default arguments result in the original behaviour (described in header). In the range bearing examples: fixed weirdo text-artifacts, add newline for readability, added underscore the prediction expression.
type in filename....
another comment update
little typo in a comment
expression example of estimating trajectory, landmarks and sensor-body-transform simultaneously
Update LICENSE to enumerate all dependencies in gtsam/3rdparty
Added extra types included by Jacob Thomson in (declined) PR #269
Cleaned up Pose3 unit test, added unit test for adjoint.
Added adjoint operators etc.
Adding adjoint and adjoint transpose functions
Switching to METIS ordering fixes out of memory error for large examples.
Added example by Wenqiang Zhou given in issue #369
...
2019-01-15 17:53:28 -05:00
0b1791583f
missing GTSAM_BUILD_STATIC_LIBRARY flags
2019-01-11 00:31:21 +01:00
87888f7bc3
Imported TBB targets; update gtsam_unstable cmake
2019-01-08 00:44:49 +01:00
fbcfbf0cdd
Made naming convention in wrapper uniform.
...
2D means Pose2 + Point2
3D means Pose3 + Point3
2018-12-31 11:19:46 -05:00
f4d1fec558
Fix compiler error in GenericGraph when GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF
2018-12-19 11:08:52 -08:00
570f41409c
Merge branch 'develop' into feature/improvementsIncrementalFilter
2018-12-18 22:01:39 +01:00
7371097d6d
Make FindSeparator-inl.h compile with recent versions of boost
2018-12-15 15:16:49 -08:00
f21a431427
Make gtsam_unstable/partition compile again, and actually build when GTSAM_SUPPORT_NESTED_DISSECTION=ON
2018-12-14 14:53:03 -08:00
895da61f05
Fix remaining FastVector errors for gcc + tbb + Ubuntu in tests
2018-11-08 16:18:51 -08:00
79fe89eaa9
Switched to using c++11 braces-style initialization
2018-11-08 17:26:09 -05:00
2aa43e11bd
Use KeyVector everywhere to avoid conversions
2018-11-08 10:10:32 -05:00
2d9d3af8e8
Made a bit more readable with Ivan
2018-11-06 13:39:05 -05:00
e00c84227f
Remove hessian factor hack.
2018-11-05 18:10:05 -05:00
b05bd66ba2
Fix the Jacobian factor constructor to work with the last QP tests.
2018-11-05 17:52:55 -05:00
f8c13a862d
Remove Unused Tests and QPS Files.
2018-11-05 16:45:43 -05:00
df025e68eb
Style improvements and comments.
2018-11-04 16:16:13 -05:00
b851c498b7
Fix parser to initialize values correctly.
2018-11-04 13:10:14 -05:00
45d3b99b26
Merge remote-tracking branch 'origin/develop' into feature/LPSolver
2018-11-01 16:24:56 -04:00
658ec8c17b
Merge develop into fix/Unit3
...
# Conflicts:
# gtsam_unstable/slam/SmartRangeFactor.h
2018-10-12 23:40:20 -04:00
6c09d8681c
Fixed warning in SmartRangeFactor.h
2018-10-12 19:10:18 -04:00
7da4824568
Fixed remaining lint errors
2018-10-09 10:25:47 -04:00
560ee010c2
Fixed uninitialized problem
2018-10-09 10:25:47 -04:00
a34a9b8ff1
Fixed remaining lint errors
2018-10-09 08:46:30 -04:00
e1466b2609
Fixed uninitialized problem
2018-10-09 08:45:42 -04:00
4abb7dae6d
Used aligned container
2018-09-27 10:40:44 -04:00
b04c0bb15d
Fix memory alignment issues
2018-07-13 14:31:02 -04:00
0c0478382b
Merge branch 'develop' into feature/improvementsIncrementalFilter
2018-02-17 20:39:20 -05:00
6d2973ff0a
Merge branch 'develop' into feature/improvementsIncrementalFilter
2017-10-14 23:35:17 -04:00
973b2337a2
make unstable build again
2017-08-15 11:16:13 -04:00
1521a7e8ef
compile cython using the manual 2-step process
...
This is to leverage all compile and linking flags within the cmake build system.
http://cython.readthedocs.io/en/latest/src/reference/compilation.html#compiling-from-the-command-line
2017-05-24 23:55:15 +08:00
993c282905
Add build dependency to ensure cython wrapper is built after cpp library
2017-05-22 16:30:50 -04:00
c42cebc037
Configure __init__.py based on setting of GTSAM_BUILD_UNSTABLE.
2017-04-07 00:29:27 -07:00
dda8e31934
fix comment
2017-03-26 00:13:27 -04:00
87443621c4
make gtsam_unstable_cython_wrapper dependent on gtsam_cython_wrapper.
2017-03-20 17:16:17 -04:00
d18e638b08
cython wrap unstable
2017-03-18 15:52:08 -04:00
fbb9d3bdda
Merged in feature/heterogeneousSmartFactorNoise (pull request #271 )
...
Feature/heterogeneoussmartfactornoise
Approved-by: Chris Beall
Approved-by: Jing Dong
2017-03-12 05:50:08 +00:00
bd67779f74
Merged in feature/variadic-emplace_back (pull request #274 )
...
Feature/variadic emplace_back
Approved-by: Jing Dong
2017-03-12 05:19:15 +00:00
efd966b45a
Move print methods to cpp files wherever possible
2016-11-01 15:11:57 -04:00
60f556e513
Replaced graph.push_back with graph.emplace_shared if needed.
2016-10-01 11:45:44 -04:00
3c1a0a8801
Replaced graph.add with graph.emplace_shared if needed.
2016-10-01 11:41:37 -04:00
249d6b0b1b
Replaced graph.push_back with graph.emplace_shared if needed.
2016-10-01 11:17:41 -04:00
7b35501709
Merged develop into feature/LPSolver
2016-09-12 11:06:04 -04:00
8877e3de4d
Removed hessian symmetrization trick from the QPSolver.
2016-09-09 10:27:01 -04:00
41b840485e
Added symmetrization trick to avoid problems with manifold optimization.
2016-09-04 15:34:33 -04:00
b1215a1678
Disabled tests with unusable augmented information matrix.
...
Fixed test by increasing error tolerance.
2016-09-04 15:18:53 -04:00
1337ac8ab0
added method to access isam2 results in incremental fixed lag smoother
2016-08-24 14:19:02 -04:00
b6c2ab6664
Merge branch 'feature/heterogeneousSmartFactorNoise' into feature/improvementsIncrementalFilter
2016-08-16 19:08:31 -04:00
2a6d372b0a
Merge branch 'develop' into feature/heterogeneousSmartFactorNoise
2016-08-16 18:54:18 -04:00
c1b00e28b1
created SmartFactorParams class collecting common parameters in smartProjectionFactor and smartStereoProjectFactor classes. This largely reduced copy-paste. SmartStereoProjectionParams is now a typedef
2016-08-14 18:54:00 -04:00
ad984807bf
Merge branch 'feature/heterogeneousSmartFactorNoise' into feature/improvementsIncrementalFilter
2016-08-06 23:28:48 -04:00
edcf94591d
added functions to get/set smart stereo parameters with unit test
2016-08-06 23:27:54 -04:00
ab1f6562c8
Fixes compile errors when using BOOST version 1.61.0
2016-08-06 00:59:07 -04:00
38fd695228
Fixed compile error on BOOST 1_60_0
2016-08-05 22:34:38 -04:00
359a61a547
added print function to FixedLagSmoother::Result struct
2016-08-05 16:04:54 -04:00
fc799abad7
Merge branch 'feature/heterogeneousSmartFactorNoise' into feature/improvementsIncrementalFilter
2016-08-05 00:04:20 -04:00
fd9bd43cb0
added remove functionality in BatchIncrementalSmoother with test
2016-08-04 23:54:34 -04:00
b59a58278b
fixed unit test!
2016-08-04 23:38:39 -04:00
4e8968e3f5
starting to add remove functionality in fixedLagSmoothers, test does not pass..
2016-08-04 18:46:26 -04:00
e0869719fa
now SmartFactorBase doesn't know about stereoPoint2 (removed also header). The functionality to check if the right pixel is missing has been moved to SmartStereoProjectionFactor, removing the casting.
2016-08-02 22:56:48 -04:00
a93c1e86f2
Merge remote-tracking branch 'origin/feature/heterogeneousSmartFactorNoise' into feature/heterogeneousSmartFactorNoise
2016-08-02 18:50:54 -04:00
e54159c695
Merge branch 'develop' into feature/heterogeneousSmartFactorNoise
...
# Conflicts:
# gtsam_unstable/slam/SmartStereoProjectionFactor.h
2016-08-02 18:50:18 -04:00
938454916f
improved test, and slightly loosened tolerance when using MKL
2016-07-31 20:10:31 -04:00
9336c0b8c0
added comment and made variables const when possible
2016-07-31 18:47:30 -04:00
f009633384
exposed point status in smart factors to keep uniformity with mono smart factors
2016-07-31 18:33:58 -04:00
6a21f1b730
adapted stereoSmart factors to use "outlier" and "far point" statuses
2016-07-31 18:31:38 -04:00
20c13580cc
deleted unused variables in unit test
2016-07-29 16:34:18 -04:00
50d6532fe1
the ultimate test: smartStereoFactors generalize smartFactors in that they work in the purely monocular case!
2016-07-27 23:48:58 -04:00
a5138bfb46
included body_P_sensor in smartStereoProjectionPoseFactor!
2016-07-25 22:13:25 -04:00
6c163b0a4d
added test which optimize smartStereoFactor with missing measurements (uR)
2016-07-24 19:07:00 -04:00
b90e224f59
added tests for error and triangulation
2016-07-24 18:56:04 -04:00
cd9b4cd5ab
moved common definitions to base class
2016-07-24 18:31:55 -04:00
f2bec78a58
first implementation of smartStereo with possibly left-only pixel measurements
2016-07-24 18:27:20 -04:00
3c15ef5d1e
great simplification in stereo triangulation: converting stereo into a set of monocular cameras, then proceed as in the monocular case
2016-07-24 16:11:07 -04:00
2ae903413a
Merged develop into feature/LPSolver
2016-07-01 16:43:20 -04:00
c98c772017
[TEST] added QPTest. Showcases failure to work on indeterminate linear systems.
2016-07-01 15:42:23 -04:00
15c6aa210b
[TEST] Added Remaining Failing Tests AUG2D CONT-050 HS118 HS268 HS51 HS51 HS53 HS76
2016-07-01 13:02:59 -04:00
ac1a02337e
[TEST] Added Test HS35MOD
...
[FEATURE] Added support for FX bounds for QPS Parsing format.
2016-06-29 15:38:00 -04:00
4ba87c59e7
[TEST] Add HS35
...
[TEST] Disabled HS118
2016-06-29 15:24:27 -04:00
adb3feeb1e
Forgot to add as a vector instead of a double.
2016-06-29 15:10:36 -04:00
54e7e84c21
[TEST] HS118 no also tests for correctness of actual solution found. Removed debug statements. QPS files with ranges now work correctly.
2016-06-29 15:08:38 -04:00
427d938631
[FEATURE] Raw QP Untested handling of Ranges.
2016-06-28 22:08:01 -04:00
b467e944cf
[TEST] Now includes a test with QPS ranges
...
[FEATURE] Parser Reads but doesn't handle ranges in QPS files.
2016-06-28 20:53:59 -04:00
ab045edf07
[BUGFIX] Now handles zero default on QPS files.
2016-06-28 20:39:36 -04:00
c9efb4bbda
[TEST] QP Now correctly handles negative constant values on hessian factors.
2016-06-28 19:51:51 -04:00
7849150276
Avoid use of now defuct copy constructor
2016-06-19 12:29:37 -07:00
25d54fde87
Fixed bug in deprecated function
2016-06-19 12:28:55 -07:00
9152b656cf
git subrepo commit third_party_modules/gtsam_module/gtsam
...
subrepo:
subdir: "third_party_modules/gtsam_module/gtsam"
merged: "abb912d"
upstream:
origin: "ssh://gerrit.skyd.io:29418/gtsam_upstream"
branch: "pull_on_6_14"
commit: "1ae7204"
git-subrepo:
version: "0.3.0"
origin: "https://github.com/ingydotnet/git-subrepo "
commit: "9a0f034"
2016-06-18 23:13:59 -07:00
fbe9aac41c
squash local changes on top of gtsam upstream pull from 6/14/2016
2016-06-18 23:13:59 -07:00
2c7f1902af
TESTED QP Solver
2016-06-18 10:39:59 -04:00
0092c27551
Merge remote-tracking branch 'origin/feature/LPSolver' into feature/LPSolver
2016-06-18 09:15:39 -04:00
f3e756805d
Accuracy Test
2016-06-18 09:14:03 -04:00
aa443fdef0
make QPParser tests pass on MacOSX-10.10.5/clang-700.1.81(LLVM 7.0.2)/boost-1.59
2016-06-18 00:40:23 -04:00
49cc1e5f1f
comments
2016-06-18 00:28:49 -04:00
d8b658e2ea
more banners
2016-06-17 15:24:55 -04:00
016da71033
delete SQP
2016-06-17 15:20:05 -04:00
41684ee6e0
Deleted unrealted SQP files.
2016-06-17 12:29:03 -04:00
9b95e18d2a
fix comments
2016-06-17 06:54:18 -04:00
ad2342d02a
remove redundant header
2016-06-16 23:51:37 -04:00
a2ca05fb8a
finish ActiveSetSolver
2016-06-16 23:49:14 -04:00
c55229673a
clean up headers, add banners, refactor implementation to cpp
2016-06-16 18:22:02 -04:00
85b8fb5626
LP now also has warm start
2016-06-16 18:07:01 -04:00
f0a3e7a799
factor out QPInitSolver
2016-06-16 17:54:32 -04:00
6d9ad2d4eb
indent
2016-06-16 10:48:17 -04:00
6d04d1e944
refactor iterate. Now look the same.
2016-06-16 10:48:06 -04:00
2cc0d93468
more refactoring to make QPSolver and LPSolver more similar
2016-06-16 08:12:40 -04:00
dbac6169b2
rvalue problem again!! Grrrrr...
2016-06-16 08:10:46 -04:00
8cdddeccd1
refactor maxKey and keyDimMap out of solvers
2016-06-16 08:08:55 -04:00
7492a708d2
simplify useWarmStart logic
2016-06-15 17:32:29 -04:00
3c85e2d625
fix bad bugs when constrained graphs are empty
2016-06-15 11:36:04 -04:00
3b897950a6
fix a crash due to problems with boost adaptors on rvalue ( https://svn.boost.org/trac/boost/ticket/9578 )
2016-06-15 09:35:43 -04:00
c90304398e
[REFACTOR] Remove deprecated vector initialization calls.
2016-06-14 01:18:42 -04:00
b387a08b66
[REFACTOR] Ran Eclipse Code Formatter on all Added files.
2016-06-13 22:58:36 -04:00
bf68fc6b4b
[REFACTOR] Replace BOOST_FOREACH with c++ foreach loop
...
[BUGFIX] Fixed failing unit test due to assert.
2016-06-13 20:35:17 -04:00
6bafe9932e
Merge branch 'develop' into feature/LPSolver
2016-06-12 19:44:19 -04:00
a97502f5a1
Resolved all issues with typedefs
2016-06-06 21:57:52 -07:00
41b091e86f
Chasing down more vector() and Point2 default constructor uses
2016-06-06 00:37:49 -07:00
bdbbe0203d
Derive Point2 from Vector2 and deprecate a number of methods
2016-06-05 23:52:04 -07:00
2e4a94e2bb
Merge branch 'develop' into feature/LPSolver
...
# Conflicts:
# gtsam_unstable/linear/QPSolver.cpp
# gtsam_unstable/linear/QPSolver.h
2016-05-30 14:12:15 -04:00
72fe66d468
Removed headers
2016-05-22 14:22:36 -07:00
f7ec58cde0
Replaced BOOSE_FOREACH with for in gtsam_unstable folder.
2016-05-21 11:52:14 -04:00
3b7c57aedf
Replaced BOOSE_FOREACH with for in gtsam_unstable folder.
2016-05-20 23:41:41 -04:00
9cd6f0b066
Get rid of deprecated functions
2016-05-06 09:40:08 -07:00
272303bc90
Cleaned up code
2016-05-06 09:29:10 -07:00
a05857f56b
Removed deprecated functions
2016-05-06 09:23:48 -07:00
652242bcaa
Merged two classes
2016-05-06 09:23:26 -07:00
7769455e63
[LP] Remove all zero priors
2016-05-06 11:24:15 -04:00
8d49d13516
[Parser] Disable Parsing Print Messages.
2016-05-02 19:59:04 -04:00
23a1382bb2
[QP/LP] LP Added Zeros Error Fixed.
...
[QP] Now Checks for syntactic Equality by comparing each factor imported .
[QP] Now Checks for semantic Equality by ensuring each imported QP gives the same solution.
2016-05-02 19:54:58 -04:00
69c1fac81a
comment
2016-04-27 03:16:46 -04:00
61e3a2b51d
remove the artificial zero priors to make testLPSolver passed with costs that don't include all vars. Why did I think I need the zero priors??
2016-04-27 03:01:54 -04:00
9c1952cd1f
make it compile with gcc 4.9 (ubuntu).
...
perhaps because fstream can't be passed around by value: http://stackoverflow.com/questions/12432952/why-is-my-fstream-being-implicitly-deleted
2016-04-27 02:04:16 -04:00
8541ad4dd4
header for boost fusion vector
2016-04-27 01:50:28 -04:00
94e8f7073c
Merge branch 'develop' into feature/LPSolver
...
# Conflicts:
# gtsam_unstable/linear/tests/testQPSolver.cpp
2016-04-27 01:10:48 -04:00
3fc9d98707
[QP/LP] Error Identified and test sample test case generated but fails.
2016-04-25 19:00:22 -04:00
b021ccef36
Global replace of Vector::Ones(1) and Matrix::Ones(1,1) with I_1x1
2016-04-16 12:32:48 -04:00
2fe0c26f4e
Deprecated delta() and basis(). All unit tests pass.
2016-04-15 20:01:22 -04:00
b6728ef620
Deprecated Vector ones(size_t n). All unit tests pass.
2016-04-15 17:30:54 -04:00
76308a5d46
Deprecated Vector zero(size_t n). All unit tests pass.
2016-04-15 16:54:46 -04:00
652edb6e61
Merged in fix/DeprecateMatrixFunctions (pull request #243 )
...
Fix/deprecatematrixfunctions
2016-04-12 23:53:42 -07:00
aa599d409c
Oops...fixed mistypes. Unit tests pass now.
2016-04-11 16:04:24 -04:00
70b2aab352
Deprecated all inline functions in Matrix.h.
2016-04-11 15:11:29 -04:00
a3b66a94ea
Cleaned up Double_ problems
2016-04-10 19:01:14 -07:00
2a33601832
Merge remote-tracking branch 'origin/develop' into feature/LPSolver
2016-03-21 12:38:59 -04:00
c769ed8452
One line definition of gravity force.
2016-03-12 20:49:00 -05:00
93bf31f852
Replaced Vector::Constant(N,value) with VectorN::Constant(value).
2016-03-12 20:47:16 -05:00
ae19e078c7
Changed argument and implementation of correct() in Mechanization_bRn2
2016-03-12 20:44:05 -05:00
026a0f59fe
Deprecated repeat() in Vector.h.
2016-03-11 23:10:18 -05:00
97e26cc365
Deprecated sub() in Vector.h.
2016-03-11 20:30:19 -05:00
3989178aba
Deprecated subInsert() in Vector.h
2016-03-11 20:13:51 -05:00
5502691022
Deprecated norm_2() in Vector.h
2016-03-11 19:34:49 -05:00
2f146e85ef
Deprecated esqrt() from Vector.h.
2016-03-11 14:34:19 -05:00
5d8218e902
[REFACTOR] Simplified Grammar.
2016-03-08 10:34:31 -05:00
b54c897f91
[FEATURE] QPS Parser Preliminary Commit.
...
Notes:
- Correctly parses MPS files and makes appropiate calls to RawQP
- Containts Debug Code
- Does not generate raw bounds from parse
- Does not generate Hessian from parse
- Does not generate Actual QP from raw QP
2016-03-07 10:29:43 -05:00
1c87f9d07a
[BUGFIX] Fix Evaluate Hessians for Matrices of a given dimension.
2016-03-07 10:14:27 -05:00
7d0b562908
Fixed two missed replacements of cwiseProduct() with array().square().
2016-03-05 21:20:32 -05:00
caa45ad67b
Replaced cwiseProduct() with array().square(). Killed deprecated comments.
2016-03-05 21:08:24 -05:00
22c3af906e
Deprecated emul() in Vector.h.
2016-03-05 18:49:34 -05:00
62ad643d41
Merge branches 'develop' and 'feature/LPSolver' of bitbucket.org:gtborg/gtsam into feature/LPSolver
...
# Conflicts:
# CMakeLists.txt
2016-03-05 13:58:54 -05:00
f5e6b21547
[BUGFIX] Point3 called with default constructor.
2016-02-27 23:52:41 -05:00
6cc4ab8bdf
[BUGFIX-WARNING] Fixed warning in gcc5 by adding SYSTEM to gtsam included eigen.
2016-02-27 19:21:42 -05:00
853b5192a5
Changed to more types to FactorIndices
2016-02-26 07:32:32 -08:00
2ca649a11f
Made some type changes to FactorIndices
2016-02-26 00:01:59 -08:00
fad9462661
A better solution through typedef of FactorIndices -> FastVector<size_t>
2016-02-25 23:51:01 -08:00
64aae16b3c
Fixed problem with wrapping iSAM by a hack: made vector<size_t> into KeyVector. This is not a long-term solution: we should enable wrapping of vector<T>.
2016-02-25 22:07:04 -08:00
0372a959ee
Many small improvements, bug-fixes, and tests
2016-02-24 11:01:19 -08:00
0987ae259c
[BUGFIX] Fixed Linker Errors in Release Mode
2016-02-21 23:36:39 -05:00
482144821b
[Fix] Rot3.ypr -> Rot3.Ypr
...
[REFACTOR] Fixed including with "" instead of <>
2016-02-18 21:51:43 -05:00
5fab190194
Merged develop into feature/LPSolver
2016-02-18 18:49:51 -05:00
3def6cab74
[FEATURE] QPSolver without initial Values.
...
[REFACTOR] Reformat code with eclipse code formatter.
2016-02-15 14:44:00 -05:00
ace23973a8
[FEATURE] LPSolver without initial Values.
...
[REFACTOR] Reformat code with eclipse code formatter.
2016-02-15 13:53:22 -05:00
1c920967d9
No more use of vector() or default constructor
2016-02-12 00:06:07 -08:00
56dbf487ee
Fixed more default constructor calls
2016-02-11 23:31:17 -08:00
8227f1a5fb
[REFACTOR] ActiveSetSolver to match commenting and format conventions.
...
[BUGIFX] Fixed Errors in Unit Tests By commenting.
[BUGFIX] FIxed Active Set Solver Problem with template in cpp file
2016-02-12 00:57:37 -05:00
10caa759d6
[COMMENT] Added missing class-level comment.
2016-02-11 23:33:33 -05:00
89fc822259
[REFACTOR] ActiveSetSolver to match commenting and format conventions.
2016-02-11 23:28:08 -05:00
2060b09a2b
Avoid calling default constructors and/or vector
2016-02-11 19:03:11 -08:00
94ccf98985
Avoid default constructor in tests
2016-02-11 19:01:54 -08:00
0a7fd27f28
Working on getting a simple typedef to compile - as well as dealing with Point3() now creating uninitialized memory.
2016-02-10 17:48:52 -08:00
f42c4f6a92
[FEATURE] SQP Removed
...
[FEATURE] Test SQP for Infeasible
[FEATURE] Test QP for Infeasible
[FEATURE] LP Initialize Without Initial Values
[FEATURE] QP Initialize Without Initial Values
** TESTS FAIL **
2016-02-09 10:45:55 -05:00
6eeeb3fef1
Fixed forgotten compose
2016-02-08 18:58:43 -08:00
a19aa793d7
Cleaned up a number of Point3/Rot3 related uses
2016-02-08 17:31:32 -08:00
23d4c0fd9f
Deprecated several Point3 methods
2016-02-08 13:27:38 -08:00
9e4b4b3f72
Merged in feature/testTransform_Sim3 (pull request #218 )
...
Fixed Sim3 Action derivative
2016-02-08 08:11:51 -08:00
5f0b493666
Cleanup
2016-02-08 00:12:19 -08:00
e39eed661e
Formatting
2016-02-07 22:29:51 -08:00
fb3eda5eee
Fixed derivative of group action, as explained in LieGroups.pdf
2016-02-07 22:26:10 -08:00
c5b2c63c9d
fix typo in test for Sim3 transform_from
2016-02-07 23:51:26 -05:00
0ceeb4bd47
A set of geometry changes from the FixedValues branch, unrelated to that PR
2016-02-07 20:11:01 -08:00
f64d17f4f0
Cleaned up and tested exmpap
2016-02-07 15:02:07 -08:00
d7ed19dc21
Fixed equality, transform_from, AdjointMap, and added wedge (for testing AdjointMap)
2016-02-07 14:05:59 -08:00
95f4d14d5e
Fixed static Rot3 methods
2016-02-07 13:00:49 -08:00
faffcb193e
Merge remote-tracking branch 'origin/develop' into feature/OptimizeSimilarity
...
Conflicts:
gtsam_unstable/geometry/tests/testSimilarity3.cpp
2016-02-07 13:00:29 -08:00
8926a1da91
[EXPERIMENTAL] Initial SQP Solver. DO NOT BUILD.
2016-02-02 11:03:53 -05:00
d4b4b2b31d
[COMMENTS] Added Some Missing Comments
2016-02-01 21:10:16 -05:00
1720adbbd7
Merge remote-tracking branch 'origin/develop' into feature/LPSolver
2016-01-29 09:12:50 -08:00
26a7647629
Some refactoring, small edits, TODOs for Ivan
2016-01-29 09:07:14 -08:00
4d93a33f61
Static methods should be uppercase.
2016-01-26 23:09:58 -08:00
b1949966e9
[REFACTOR] Extract LPSolver.cpp from LPSolver.h
2016-01-26 09:34:05 -05:00
796e2d813c
[REFACTOR] Remove Debug statements from Iteration.
2016-01-26 07:56:52 -05:00
84662bc5d9
[REFACTOR] Extracted common components from QPSolver and LPSolver into ActiveSetSolver.
2016-01-25 19:24:37 -05:00
2978664cbd
Merge branch 'develop' into feature/LPSolver
...
Conflicts:
gtsam_unstable/linear/QPSolver.h
2016-01-25 15:59:52 -05:00
ec1d0201e5
[REFACTOR] Changed Vector(..).finished for VectorN(...)
2016-01-24 20:18:10 -05:00
b2825ca4d0
[REFACTOR] Remove unnecessary includes from testLPSolver.
2016-01-24 20:08:14 -05:00
88dc9ca73d
[REFACTOR] Extracted LPInitSolver.h from testLPSolver.cpp
...
[REFACTOR] Extracted LPSolver.h from testLPSolver.cpp
[REFACTOR] Extracted LPState.h from testLPSolver.cpp
2016-01-24 19:58:42 -05:00
580d1671f4
[REFACTOR] Extracted LPState.h from testLPSolver.cpp
2016-01-24 19:44:43 -05:00
2fa3a56f03
[REFACTOR] Extract LP.h from LPSolver.cpp
...
[REFACTOR] Extract InfeasibleInitialValus.h from LPSolver.cpp
[REFACTOR] Extract InfeasibleOrUnboundedProblem.h from LPSolver.cpp
2016-01-24 19:40:55 -05:00
bc3398a6a2
[BUGFIX] Fixed Failing Unit Test
2016-01-24 14:09:16 -05:00
35b6986d32
Merged in feature/c++11 (pull request #193 )
...
Make C++ 11 the default
2015-10-26 17:04:08 -07:00
04bcf26aa6
Explicitly cast optional to bool
2015-10-20 14:44:00 -04:00
901fb56993
Fixed warnings
2015-10-19 15:01:48 -07:00
e2ce27f712
move static member definition to cpp file
2015-09-22 08:17:19 -04:00
aa2ffcd118
Merge branch 'develop' into feature/cleanup_ImuFactor
2015-09-17 17:42:38 -04:00
92e210b893
Fix examples and Matlab wrapper
2015-08-26 13:25:12 -04:00
29ad9478f7
Move noise model initialization from add function into constructor. Can only have one noise model per factor anyway
2015-08-26 13:02:39 -04:00
0503df31fa
Relax tolerance to 1e-6 for MKL/quaternion test, and fix up documentation a bit.
2015-08-25 12:14:52 -04:00
6a5147b5b5
Merged in fix/SmartStereo (pull request #181 )
...
Fix/smartstereo
2015-08-25 09:51:59 -04:00
8b4228fa56
Make smart parameters public. Now easier to set, and it's sufficient for this to be const within the smart factor itself!
2015-08-19 10:58:35 -04:00
c8df985e2f
Relax test tolerance a bit for quaternion mode
2015-08-19 07:30:14 -04:00
1727b60728
Fixed and cleaned up unit test
2015-08-19 00:11:35 -04:00
123c55f0d7
respect triangulation.enableEPI flag in SmartStereo factor
2015-07-29 14:05:48 -04:00
07bd7fa2bd
fix examples and wrapper
2015-07-28 15:14:39 -04:00
fd1e41a9e6
remove calibration template from SmartStereoProjectionPoseFactor
2015-07-28 15:12:02 -04:00
748877ff7e
remove calibration template from SmartStereoProjectionFactor
2015-07-28 14:56:45 -04:00
db64b48fda
tests pass
2015-07-28 14:48:53 -04:00
da9078cf3b
add nonlinear triangulation back. Some unit tests fail again
2015-07-27 23:27:20 -04:00
110a046fb6
Fixed compile issue and tightened tolerances
2015-07-24 16:05:15 +02:00
0bb73bae9e
Comments
2015-07-23 16:59:26 +02:00
1a47a334de
Deal with changes in Rot3
2015-07-21 11:23:42 -07:00
7ae31bd8e7
delete some unused stuff
2015-07-20 11:43:57 -04:00
b5a978c534
improve dynamic outlier rejection test
2015-07-19 21:01:14 -04:00
fcc9ac2669
remove extra cout
2015-07-19 20:39:34 -04:00
36c652ac40
remove monocular triangulation hack and make tests pass again
2015-07-19 20:37:16 -04:00
2c765c735a
Velocity3 default constructor does not zero
2015-07-17 22:09:49 -07:00
233cabb3fb
Made Velocity a Vector3
2015-07-17 17:36:29 -07:00
d1271fd9d5
Fixed product retract/localCoordinates and corresponding tests
2015-07-16 23:48:56 -07:00
459226800d
Replaced failing test with two new, working tests
2015-07-16 22:38:30 -07:00
b8f5141743
HasRange
2015-07-16 22:38:17 -07:00
3f0e695cc9
some tests pass again
2015-07-16 11:26:07 -04:00
0c3bb85547
Added test of localCoordinates
2015-07-15 23:22:31 -07:00
93f7eafaa8
re-enable triangulation hack
2015-07-15 23:16:45 -04:00
bd4dd84933
huge refactor. Compiles again, but triangulation still broken, SmartStereo test fails
2015-07-15 16:53:04 -04:00
fb4dd81c4d
refactoring: step 1
2015-07-15 12:58:03 -04:00
30435da070
Moved BearingRangeFactor to SAM
2015-07-12 18:57:26 -07:00
03db69117a
Define and partially specify Range and Bearing functors
2015-07-12 15:51:49 -07:00
3bad6fea67
moved RangeFactor to SAM
2015-07-12 12:12:59 -07:00
5052eb2c64
cleaning up
2015-07-11 18:31:36 -07:00
7ff3e11efd
removed redundancy in naming
2015-07-09 11:29:32 -07:00
3b16ad2967
Moved deprecated headers into subdirectory
2015-07-09 11:14:39 -07:00
377b90941b
switch to Rodrigues everywhere
2015-07-05 16:11:04 -07:00
464a82cc51
Merge remote-tracking branch 'origin/develop' into feature/betterOrdering
...
Conflicts:
.cproject
gtsam/inference/Ordering.h
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
2015-06-28 15:41:58 -07:00
35c23da427
change: add const traits and renaming some test parameters
2015-06-26 18:24:30 -04:00
12f9b413ff
feature: add concept test for similarity3
2015-06-26 16:01:26 -04:00
400a17d9ab
change: a little clean up
2015-06-26 15:44:08 -04:00
d415cffd4b
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
2015-06-23 22:41:33 -07:00
801d1fb700
Merged in feature/performance (pull request #161 )
...
Improving performance
2015-06-23 22:27:10 -07:00
0e022b3b33
Values::keys now returns KeyVector instead of list. Corresponding fixes in Matlab wrapper.
2015-06-24 00:35:32 -04:00
b0f04503c9
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
...
# Conflicts:
# gtsam/linear/tests/testRegularHessianFactor.cpp
# gtsam/slam/SmartFactorBase.h
2015-06-23 10:03:42 -04:00
f9ddbb1345
Eliminated linked list
2015-06-21 01:45:56 -07:00
128bac616c
Globally replaced FastSet<Key> with KeySet.
2015-06-20 18:38:25 -07:00
f8205bfe02
Merge branch 'develop' into feature/SmartFactors3
...
Conflicts:
gtsam/geometry/CalibratedCamera.h
gtsam/geometry/tests/testCalibratedCamera.cpp
gtsam/geometry/triangulation.h
gtsam/nonlinear/ExpressionFactor.h
gtsam/slam/SmartProjectionFactor.h
gtsam_unstable/slam/SmartStereoProjectionFactor.h
tests/testExpressionFactor.cpp
2015-06-19 16:55:30 -04:00
78c8160dc5
all tests pass and it compiles (yuppii!), but if I make check I get errors with isManifold and something that seems unrelated to smart factors. going to merge with develop
2015-06-19 12:06:45 -04:00
99fce3f5af
Added a few tests
2015-06-11 19:55:10 -04:00
76ffc45ee7
Merged 'develop'.
...
Conflicts:
gtsam_unstable/geometry/Similarity3.cpp
gtsam_unstable/geometry/Similarity3.h
2015-06-11 19:54:54 -04:00
f6ac546cc3
Added comparison to brute force matrix exponential
2015-06-11 13:56:35 -04:00
5ceb7d9ddc
Fully implemented logmap/expmap, which are used for retract/localCoordinates
2015-06-10 16:36:56 -04:00
0d5f0510ab
Expmap and Logmap, still incorrect around identity
2015-06-10 11:01:34 -04:00
d385984f26
Working compose/between/inverse derivatives
2015-05-26 01:08:27 -07:00
d060d4621e
PoseRTV is now implemented using ProductLieGroup
2015-05-25 23:50:00 -07:00
9d522c72f3
internal::LieGroup needed if you also want Testable traits
2015-05-25 22:04:04 -07:00
b23a51db6d
PoseRTV as ProductManifold works
2015-05-25 17:13:08 -07:00
f8ab4ef144
Change SimpleCamera from typedef back to regular class to make wrapping+serialiation work. Had to change some templates because vector<PinholeCamera> can't be upcast to vector<SimpleCamera>
2015-05-18 14:33:27 -04:00
58de1ac296
re-enable all tests. Disable printing. Fixing bad names due to unintentional global replace
2015-05-15 08:57:43 -04:00
827caf1793
compute a feasible initial value for LPSolver: simple test passed.
2015-05-15 08:47:57 -04:00
f30e2501be
compute error for constrained linear factor graphs
2015-05-15 08:45:47 -04:00
ee8316e291
fix comments
2015-05-15 08:44:58 -04:00
79d20b6c44
GTSAM-style formatting
2015-05-13 23:44:46 -07:00
13a4da21b2
misc bugfixes and cleanup from skydio
2015-05-13 22:26:24 -07:00
e456923a74
Merged in feature/SimplerExpressions (pull request #135 )
...
Expressions without MPL
2015-05-13 00:36:49 -07:00
057aef90d9
Fixed some more warnings on Ubuntu
2015-05-12 15:05:34 -07:00
4ba329c23b
Fixed many warnings on Ubuntu
2015-05-12 13:46:24 -07:00
4f846ff75f
No more boost::mpl needed for Expressions
2015-05-12 01:33:33 -07:00
81b3860991
Moved all internal data structures to internal namespace
2015-05-11 21:19:40 -07:00
13dcc977f2
Moved Point2Vector wrapper from gtsam_unstable.h to gtsam.h
2015-05-03 17:31:08 -07:00
b52ced7a09
Merged in fix/serialization_warnings (pull request #128 )
...
Fix some unused variable warnings in the serialization code.
2015-04-20 15:00:45 -04:00
a4fac2ab62
added cout style print statements for similarity
2015-04-12 15:38:40 -04:00
ea6f5e3fb9
Use TriangulationParameters
2015-04-08 21:36:11 -04:00
762a7b7435
Remove selective relinearization and state
2015-04-08 17:52:25 -04:00
51482ea358
Remove template parameter D, get from Base::Dim instead
2015-04-08 14:21:40 -04:00
40659cab38
first LPSolver test passed!!
2015-03-25 08:19:43 -04:00
956b53dc3b
Fixed sign in stereo version
2015-03-12 09:51:44 -07:00
2bdeac30f0
Fixed compile error w PointCov
2015-03-12 07:56:47 -07:00
d8564f25e0
fix exception text
2015-03-12 09:37:26 -04:00
a4d1874af4
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
2015-03-09 17:51:16 -07:00
faadf5b06f
Fully compiles now
2015-03-06 08:48:35 -08:00
472821f16d
Merge remote-tracking branch 'upstream/develop' into fix/serialization_warnings
2015-03-06 17:10:59 +01:00
ebf5746987
Fix some serialization warnings.
2015-03-06 16:12:09 +01:00
3be6b16995
relax threshold from 1e-7 to 1e-6 to make test pass.
2015-03-06 00:32:43 -05:00
758aab6e80
Cleaned up test
2015-03-05 10:41:49 -08:00
b40c0f7f15
Fixed sign
2015-03-05 10:36:03 -08:00
dc3d5f77fe
Extra stereo tests
2015-03-05 10:35:54 -08:00
e6a90db2d5
Migrated to non-keyed Fblocks
2015-03-04 23:11:01 -08:00
f28b083c14
Merge remote-tracking branch 'origin/develop' into feature/SmartFactors3
...
Conflicts:
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
2015-03-04 16:02:25 -08:00
74605df641
Re-ordered methods in .h and .cpp to match them
2015-03-03 07:42:31 -08:00
d8822e5b57
H1 works for rot/translation, but not scale :-(
2015-03-02 21:58:54 -08:00
728991e31f
Fixed H2
2015-03-02 21:08:57 -08:00
05198c091e
comment
2015-03-02 21:08:41 -08:00
e0e5590856
matrix() returns 4*4 matrix \in GL(4)
2015-03-02 21:08:23 -08:00
6bfda9fcba
Added prototype derivatives for transform_from
2015-03-02 20:34:56 -08:00
fcd00450d3
Formatting, use Point3/Rot3, resolved link error of operator*(Point3)
2015-03-02 20:09:44 -08:00
1e58c0b0a2
Comments and standard BORG formatting
2015-03-02 19:34:33 -08:00
bdd00d8b49
move code to cpp and some small clean up
2015-03-02 08:27:24 -05:00
b2dcf35e77
Merged in feature/Similarity (pull request #117 )
...
Sim3 Support
2015-02-26 23:33:37 +01:00
6faa881de6
Make the code prettier.
2015-02-26 15:10:59 -05:00
a375e7b5be
RADICAL2: The SmartProjectionPoseFactor (soon to be renamed SmartPinholePoseFactor, if it survives at all) now no longer stores shared calibrations. Values expect to contain PinholePoses not Pose3s now. The current state of affairs was simply a bug: one pose could be optimized for several different calibrations. It relied on the user to make sure all measurements for a specific pose to optimize were all given the same shared calibration, which was then stored *millions of times* in the pose factors. Instead, there is now *one* shared calibration per PinholePose unknown.
2015-02-26 13:55:16 +01:00
a132d959f5
RADICAL: Got rid of sensor_pose. In the new PinholePose philosophy, this is entirely the responsibility of the CAMERA. Just like PinholePose, we can have a camera class that has a shared extra transform: it is part of the calibration. PinholePose itself is not able to do this, as the calibration is assumed 2D only, but it's easy to create a class and have the correct derivatives in place.
2015-02-26 12:06:43 +01:00
0bf95ae7f6
Removed obsolete code, including slow Schur-complement versions
2015-02-26 11:44:51 +01:00
fd71974ff3
Got mostly rid of computeEP: just a call to cameras.project2
2015-02-25 20:52:16 +01:00
850470ef06
rename of computeJacobians overloads to better reflect functionality
2015-02-25 19:30:17 +01:00
abfcfa1a17
Merged 'develop'.
2015-02-25 11:00:46 -05:00
9991ae04f3
Fixed unit tests
2015-02-25 10:59:25 -05:00
b9dbde14f2
fix file heading comments for doxygen
2015-02-25 09:09:33 -05:00
bd16c52e7c
support params and verbosity debug info for LinearConstraintSQP
2015-02-25 08:07:40 -05:00
d80caeb44b
small comment fix
2015-02-24 23:41:39 -05:00
d9773da125
rename classes
2015-02-24 23:40:53 -05:00
d2f919e632
Linear[In]EqualityFactorGraph --> [In]EqualityFactorGraph
2015-02-24 22:25:26 -05:00
ce50219f9d
fix comments for doxygen
2015-02-24 22:15:41 -05:00
54121ad26b
add test for InfeasibleIntialValues exception
2015-02-24 22:10:07 -05:00
0c025f798c
fix comments
2015-02-24 22:09:31 -05:00
8a88f101db
Fix deprecation warnings
2015-02-24 21:58:17 -05:00
95bb10d44a
make QPSolver throws an exception if the provided initial values are infeasible
2015-02-24 21:49:27 -05:00
d7b5156dcc
rename to reprojectionErrorAfterTriangulation
2015-02-25 01:14:36 +01:00
eb28d0ffa8
Restored reprojectionErrors -> reprojectionError
2015-02-24 14:09:35 +01:00
d6f54475c3
BIG change: SmartFactorBase and SmartProjectionFactor now templated on CAMERA
2015-02-23 12:43:43 +01:00
64bb6b77d7
Merged in feature/SmartCT (pull request #107 )
...
Refactoring of Smart Factors
2015-02-22 06:14:19 +01:00
1d81572894
Capitalize static methods in ordering.h
...
This commit involves the API change. Related files in gtsam have been changed. All the tests examples run without issue.
2015-02-21 13:16:03 -05:00
b53c26c934
Merge remote-tracking branch 'origin/develop' into feature/Similarity
...
Conflicts:
.cproject
2015-02-20 00:36:52 -05:00
ba4698bf51
add comments, fix format, make test compiled
2015-02-19 08:51:54 -05:00
f9ccd23d4a
Refactored into class and unit test
2015-02-19 01:21:20 -05:00
d8e184fadd
fix traits::dimension
2015-02-18 09:13:15 -05:00
23dbaad23e
Added test to test iterative framework. DOES NOT WORK YET.
2015-02-18 07:48:40 -05:00
f1703db4aa
Added comments
2015-02-18 07:48:40 -05:00
37fe405872
Added warmStart flag.
2015-02-18 07:48:39 -05:00
6b2b96ca2a
updated with current constructor whch needs number of iterations
2015-02-18 07:47:55 -05:00
3142f0a9a7
disabled test
2015-02-18 07:47:55 -05:00
2476bbe8d7
can pass debug flag as parameter.
2015-02-18 07:47:55 -05:00
3e352f109e
Added warm start for initializing active set.
2015-02-18 07:47:54 -05:00
f4a4ce4325
added debug print statements
2015-02-18 07:47:54 -05:00
e74b737a66
box-constraints unit test passed with prior and between factors
2015-02-18 07:47:53 -05:00
3653e93338
fix bug in dual feasibility check. We want dual variables < 0.
2015-02-18 07:47:53 -05:00
121feb2281
disable printing
2015-02-18 07:47:53 -05:00
bcdeddbda1
Compute the least-square values of dual variables instead of forcing them to satisfy the stationarity condition exactly. This fixes an infinite-loop bug in QPSolver when a constraint was continuously added to and removed from the active set.
2015-02-18 07:47:53 -05:00
276959e39a
remove support for nonlinear constraints. Refactor SQPSimple to LCNLPSolver.
2015-02-18 07:47:53 -05:00
0fdd49ca4e
Removed LinearEqualityManifoldFactorGraph.
2015-02-18 07:47:52 -05:00
e0e5e72020
Fixed includes
2015-02-18 07:47:52 -05:00
79b69d4489
[unfinished] unit test with multiple betweenFactors with box constraint.
2015-02-18 07:47:52 -05:00
1dd23ced02
Simple unit test for NonlinearInequalityFactorGraph.
2015-02-18 07:47:52 -05:00
de7149af63
Added licensing information.
2015-02-18 07:47:52 -05:00
2523fa2fe5
removed comment
2015-02-18 07:47:51 -05:00
b6d85e83ae
Fixed includes.
2015-02-18 07:47:51 -05:00
c99a848148
Refactoring.
2015-02-18 07:47:51 -05:00
d435fa72df
removed all printing
2015-02-18 07:47:51 -05:00
cc0e5cd3ca
Working nonlinear inequality constraints with unit tests.
2015-02-18 07:47:51 -05:00
fd461a1c15
[unfinished] prototyping inequality SQP with Luca.
2015-02-18 07:47:50 -05:00
ecc87bdb2b
Added test with pose and a line equality constraint. Works but hessian is incorrect. So basically using nonlinearequality vs linearequality makes no difference.
2015-02-18 07:47:50 -05:00
29e6e67de7
added debug info, fixed unit test, added nonlinear constraint (circle) test. Doesn't work because of negative definite hessian obtained from multiplying the dual with the constraint hessian.
2015-02-18 07:47:50 -05:00
ccc243d37a
Obtain dim by using traits.
2015-02-18 07:47:50 -05:00
147d174a66
test files deprecated, might be removed later
2015-02-18 07:47:49 -05:00
6d76b5910c
added comments
2015-02-18 07:47:49 -05:00
2b1cc7bf22
Added Simple QP solver and test. Unit test doesn't work yet
2015-02-18 07:47:49 -05:00
3af06ef029
Added nonlinearconstraint and tests
2015-02-18 07:47:49 -05:00
7d2f69335d
Added constructor
2015-02-18 07:47:48 -05:00
b4c5237925
Added structure of test and class. Left with implementation.
2015-02-18 07:47:48 -05:00
42d8e1fcb2
Working Sim3 Transform
2015-02-13 09:06:08 -05:00
5afc3c4cea
again: overlooked Dim -> dimension because this factor has no unit test!
2015-01-28 16:48:12 -05:00
db73a0dd1d
Working, with stub log/expmap and identity
2015-01-28 14:55:13 -05:00
10b56a115c
Working Similarity3 transform with unit tests.
2015-01-26 13:38:32 -05:00
c6b3535dda
retract works, local coordiantes still broken
2015-01-25 01:28:16 -05:00
a87a3dd987
Rotation works, translation and scale incorrect
2015-01-24 22:42:48 -05:00
b1cea2bee7
overlooked Dim -> dimension because this factor has no unit test!
2015-01-23 14:29:25 -05:00
d28ef19b9a
Merge remote-tracking branch 'origin/develop' into feature/Similarity
...
Partial update of Similarity to BAD
Conflicts:
.gitignore
2015-01-23 08:10:21 -05:00
bade68fa33
Simple single prior optimization
2015-01-12 12:58:17 -05:00
a88b10eacc
Working similarity3 transform with unit tests
2015-01-07 09:57:48 -05:00
89460fe931
Unit tests still fail, but believed to be correct.
2015-01-02 09:02:43 -05:00
e119846280
Updated examples and test
2014-12-28 19:10:41 +01:00
c58f2c15dc
Moved to gtsam
2014-12-28 19:09:12 +01:00
3587ad4e2c
Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
...
Conflicts:
examples/SFMExampleExpressions.cpp
2014-12-28 18:53:09 +01:00
7c455efe50
Made Event into new-style manifold
2014-12-28 18:24:00 +01:00
2ee192e950
Fix header
2014-12-28 18:23:22 +01:00
f9c353d4a5
Merge remote-tracking branch 'origin/develop' into feature/SoundSlam
...
Conflicts:
.cproject
gtsam/base/LieMatrix.h
gtsam/base/LieVector.h
gtsam/base/OptionalJacobian.h
gtsam/base/tests/testOptionalJacobian.cpp
gtsam/geometry/Cal3_S2Stereo.h
gtsam/geometry/CalibratedCamera.h
gtsam/geometry/PinholeCamera.h
gtsam/geometry/Point2.h
gtsam/geometry/Point3.h
gtsam/geometry/Pose2.cpp
gtsam/geometry/Pose2.h
gtsam/geometry/Pose3.cpp
gtsam/geometry/Pose3.h
gtsam/geometry/Rot2.cpp
gtsam/geometry/Rot2.h
gtsam/geometry/Rot3.cpp
gtsam/geometry/Rot3.h
gtsam/geometry/Rot3M.cpp
gtsam/geometry/Rot3Q.cpp
gtsam/geometry/Unit3.cpp
gtsam/geometry/tests/testRot3.cpp
gtsam/nonlinear/AdaptAutoDiff.h
gtsam/nonlinear/Expression-inl.h
gtsam/nonlinear/Expression.h
gtsam/nonlinear/tests/testExpression.cpp
gtsam/slam/RangeFactor.h
timing/timeAdaptAutoDiff.cpp
timing/timeCameraExpression.cpp
2014-12-28 17:45:41 +01:00
9b5136d35c
Moved examples
2014-12-28 17:15:14 +01:00
401ee70364
Fixed overload resoltion error in template matching by removing overloads in traits
2014-12-28 17:14:04 +01:00
c4457682bc
Fixed header file
2014-12-28 17:13:20 +01:00
a454327e7b
Moved include file
2014-12-28 16:44:32 +01:00
111b9511ac
Moved timing files
2014-12-28 16:40:40 +01:00
3ebcfc5ce0
make timing compiles
2014-12-28 16:37:54 +01:00
097f0fb80d
Fix paths
2014-12-28 14:51:19 +01:00
c8faa102e3
Moved EexpressionFactor related files to gtsam
2014-12-28 13:48:13 +01:00
e5017984a1
traits_x -> traits
2014-12-26 16:47:51 +01:00
aaf4588f20
Improved simple helicopter
2014-12-26 00:53:36 +01:00
902e7e57e5
Fixing helicopter
2014-12-26 00:21:33 +01:00
11858da42b
fix testSimpleHelicopter
2014-12-25 17:25:42 -05:00
afe20d83bd
Dealing with Pose3 mojo loss
2014-12-25 20:04:28 +01:00
47ff09f6c8
Pose3 lost its mojo! But there are errors in Expmap/Logmap derivatives around identity...
2014-12-25 19:43:32 +01:00
5c0db68152
Fixed compile error from develop
2014-12-25 18:16:47 +01:00
78386ad144
Merge ExmapeDerivative/LogmapDerivative changes from 'origin/develop' into feature/tighteningTraits
...
Conflicts:
gtsam/base/LieScalar.h
gtsam/geometry/Point2.h
gtsam/geometry/Point3.h
gtsam/geometry/Rot3.h
gtsam/geometry/Rot3M.cpp
gtsam/geometry/Rot3Q.cpp
gtsam/geometry/tests/testRot3.cpp
2014-12-24 13:55:15 +01:00
d9f5681dc2
Fixed warning
2014-12-24 11:34:53 +01:00
3d15868ece
Renamed internal::LieGroup -> internal::LieGroupTraits
2014-12-24 01:34:33 +01:00
ea3b4624d8
Testable concept prereqs check
2014-12-23 14:56:48 +01:00
52ec4f0784
fixed serialization tests
2014-12-23 12:35:49 +01:00
c6ae119414
Tightened what is needed for Lie, i.e., fewer versions of retract/localCoordinates
2014-12-22 23:42:52 +01:00
f5c9c24330
Corrected sillyness
2014-12-22 23:41:42 +01:00
355b938f3a
Point3 loses its mojo (superfluous Lie/Manifold stuff)
2014-12-22 17:22:45 +01:00
5473550eea
Using traits in many places (forced by loss of Point2 mojo)
2014-12-22 16:02:33 +01:00
4a708c855f
fixed testExpressionFactor.cpp
2014-12-22 11:33:52 +01:00
a6f612844f
fixed testTSAMFactors.cpp
2014-12-22 09:39:51 +01:00
06c3696176
Fixed more problems so everything compiles now after splitting up concepts into Group/Manifold/Lie/VectorSpace. Still 25 tests that fail.
2014-12-22 02:52:31 +01:00
99a50a2f87
Split up concepts into Group/Manifold/Lie/VectorSpace. Also fixed some implementations and put in exceptions elsewhere, rather than CONCEPT_NOT_IMPLEMENTED macro.
2014-12-22 02:50:52 +01:00
79d8514528
MASSIVE edit: made Testable its own concept, and moderinized Testable.h to use Testable traits. This required adding Testable traits in many classes.
2014-12-21 22:02:57 +01:00
00b374c9e9
Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits
...
Conflicts:
gtsam/base/LieScalar.h
gtsam/geometry/Point2.h
2014-12-21 14:39:23 +01:00
d0e1c1a770
test compiling!! but 34 tests failed out of 198
2014-12-20 20:36:54 +01:00
b7204b100d
PoseRTV
2014-12-20 20:22:34 +01:00
b39d14872a
remove lpsolve
2014-12-16 11:27:20 -05:00
07bcc18d43
fixed testTSAMFactors
2014-12-15 23:23:40 +01:00
44477e12f2
Fixed initialization error for active_
2014-12-15 11:47:04 -05:00
c0e4f76d94
More manifolds...more numerical differentiation...more.
2014-12-14 18:59:57 +01:00
da4c44e12d
More progress
2014-12-14 15:26:43 +01:00
2225c10fc0
use ExpressionFactorGraph
2014-12-13 08:35:22 +01:00
48b08bd58e
more informative print for LinearInequality showing its active/inactive state
2014-12-13 01:04:46 -05:00
c4b574774a
remove LinearConstraint. It is replaced by LinearEquality
2014-12-13 01:04:08 -05:00
da318184ae
sync with develop branch commit c1f048d
2014-12-12 18:46:54 -05:00
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
181bfb4f0f
Added support for compiling lpsolve on linux. Windows not tested
2014-12-12 17:21:07 -05:00
e12add2739
Merged in develop (pull request #71 ). Resolve conflicts.
2014-12-12 15:34:53 -05:00
593795f65b
use Eigen's predefined RowVector typedef
2014-12-12 12:51:19 -05:00
ac6f10ea74
enforce RowVector as Jacobian for single-valued linear inequalities
2014-12-12 12:43:07 -05:00
a26ef7b7a2
refactor QPSolver to work with single-valued linear inequality factors. Unit tests passed.
2014-12-12 12:03:00 -05:00
6d68f5ffff
equality constraints are always active
2014-12-12 12:02:06 -05:00
4f28eace7e
LinearInequality now only supports single-valued function. Add active/activate/inactivate function to use in the qp active set method.
2014-12-12 12:01:16 -05:00
a7b8e60272
Unit test failure, either retraction or localCoordinates is wrong for rotation
2014-12-12 10:38:59 -05:00
c6e4cd5e03
Operational Sim3 with basic unit tests
2014-12-12 10:12:58 -05:00
69f27b9488
Additional unit test
2014-12-12 08:43:57 -05:00
8f27b048f1
Moved experiment to doubleExpresso project
2014-12-12 08:53:32 +01:00
541217175c
Added ExpressionFactorGraph (should go away with move of ExpressionFactor to gtsam)
2014-12-12 08:00:02 +01:00
fa7071bdd8
Comments, renaming
2014-12-12 07:45:09 +01:00
8cc813f03e
Removed misguided Factory attempt in favor of direct expressions
2014-12-12 07:31:33 +01:00
8c4468185a
Take a stab at localCoordinates
2014-12-11 22:54:02 -05:00
Mike Bosse
Gerry Chen
duyanwei
Frank Dellaert
Varun Agrawal
Fan Jiang
Jose Luis Blanco-Claraco
Clark Taylor
Jose Luis Blanco Claraco
Frank Dellaert
Frank Dellaert
chrisbeall
Duy-Nguyen Ta
Antoni Rosiñol Vidal
Jeremy Aguilon
Duy-Nguyen Ta
Chris Beall
lcarlone
=
AndreiCostinescu
Sean Bowman
Luca Carlone
Yao Chen
chrisbeall
Yao Chen
Frank Dellaert
Abe
Duy-Nguyen Ta
Alex Hagiopol
lvzhaoyang
cbeall3
Paul Drews
nsrinivasan7
Thomas Schneider
krunalchande
Mike Bosse
Paul Furgale