fea5beb638
Re-organization: moving all files.
...
I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests.
cpp will be further renamed/sub-divided and contains the core library.
I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 07:16:31 +00:00
9b89a32880
Fixed errors introduced by previous changes
2010-07-10 22:59:50 +00:00
1bc2efc8b0
new isam2 alg - mostly done
2010-07-09 23:18:10 +00:00
59cee45022
constrained reordering, significant performance improvement
2010-07-09 05:23:17 +00:00
694f6e4219
linearize now always returns a shared pointer
2010-02-21 21:17:47 +00:00
21c1af2b9f
Collecting more statistics in isam2, logmap for configs
2010-01-23 01:53:04 +00:00
7bc4ee65da
allow pure linear steps (disabled)
2010-01-23 00:21:34 +00:00
ab155999cf
simplified alg, but no measureable speed improvement
2010-01-22 18:29:27 +00:00
1d093e388d
changed main algorithm to allow recovery of exact solution
2010-01-22 06:28:12 +00:00
41a6e64bbb
Fixed insert to use IndexTable, a new class
2010-01-22 02:27:26 +00:00
2cc777228b
coments and variables only
2010-01-21 20:15:52 +00:00
2183e09c67
fluid relinearization works
2010-01-21 17:41:54 +00:00
523c8630d3
works at least on already solved data...
2010-01-21 16:09:57 +00:00
8fd0c2ae72
new fluid relinearization algorithm, in sync with lyx
2010-01-21 07:38:37 +00:00
188561d925
removeTop/Path now returns a BayesNet to avoid converting the conditionals to a factor graph
2010-01-21 00:38:22 +00:00
aae49e43f0
code factorization, speedup
2010-01-20 06:49:19 +00:00
ecde508318
incremental nonlinear working
2010-01-20 01:52:40 +00:00
d2291a38d1
bug fixes after COLAMD activiation: BayesTree::insert was wrong, BayesTree::removeTop/Path fixed and simplified
2010-01-20 01:24:32 +00:00
a45893a434
selective incremental linearization works; bug fix in landmark initialization (frank01 again much faster)
2010-01-19 01:18:28 +00:00
a2bce15c4b
selective update of linearization point
2010-01-19 00:15:46 +00:00
0e6607d160
relinearization working, but currently applied to all variables
2010-01-18 22:37:44 +00:00
f8ef284b30
fixed bearing/range, large speedup for batch; incremental creation of Config works
2010-01-18 20:17:31 +00:00
8e3a8f08c8
incremental processing of planarSLAM; bug fix in ISAM2-inl
2010-01-18 18:13:53 +00:00
18414b1286
VectorConfig/Config confusion resolved; planarSLAM integrated
2010-01-18 08:05:33 +00:00
6b2190159d
restored lost changes
2010-01-18 04:53:17 +00:00
42f4ff228b
code cleanup, recovering estimate while dealing with incremental adding of factors, planar with new SLAM
2010-01-18 04:32:45 +00:00
aef0b42562
Refactoring to use a new Symbol key instead of strings in Bayes*, Gaussian*, Ordering, Symbolic*, VectorConfig. Renamed existing type-checking key Symbol<C,T> to TypedSymbol<C,T>
2010-01-17 19:34:57 +00:00
fbe425b966
relinearizing part of a BayesTree, requiring caching of intermediate results during elimination
2010-01-17 06:06:20 +00:00
a956c1a8be
svn restored from 1733.
...
this commit updates gtsam to version 1774, which now appears as 1734.
2010-01-16 01:16:59 +00:00
052149771a
relinearizing factors corresponding to contaminated cliques
2010-01-03 04:57:35 +00:00
b4e65e9631
progress in ISAM2, but unit test still disabled
2009-12-31 05:35:08 +00:00
42fca8c399
nonlinear update, all but rhs/config
2009-12-30 04:27:14 +00:00
737a2f1e05
unit test enabled again and working
2009-12-29 14:54:45 +00:00
75ab62a729
ISAM2 (nonlinear ISAM) partially there, unit test currently disabled
2009-12-29 05:57:05 +00:00
Frank Dellaert
Richard Roberts
Michael Kaess
Chris Beall