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1127 Commits (fea5beb63819085e52e96a58314dda55a02690ca)

Author SHA1 Message Date
Frank Dellaert 85784400c6 prototype object map 2010-02-28 09:09:12 +00:00
Frank Dellaert dcfe52dae7 some renaming of variables 2010-02-28 09:08:47 +00:00
Frank Dellaert 725dd55295 Fairly extensive treatment of the Lie groups we care about and the relevant derivatives. 2010-02-28 09:08:21 +00:00
Kai Ni b58f7b8ea7 the derivative for transform_from 2010-02-28 08:51:43 +00:00
Kai Ni d894e23a06 assert_equal for a list of matrices 2010-02-28 00:48:42 +00:00
Manohar Paluri 4604cbce05 svd now handles m < n cases. Added unit tests to verify this. But svd in place will throw an exception for such cases. 2010-02-27 18:23:34 +00:00
Frank Dellaert 5e00c58ea7 Baker–Campbell–Hausdorff formula: in non-commutative Lie groups, when composing exp(Z) = exp(X)exp(Y) it is not true that Z = X+Y. Instead, Z can be calculated using the BCH formula: 
Z = X + Y + [X,Y]/2 + [X-Y,[X,Y]]/12 - [Y,[X,[X,Y]]]/24 + ...
See http://en.wikipedia.org/wiki/Baker–Campbell–Hausdorff_formula
 2010-02-27 14:58:54 +00:00
Kai Ni 67b4834bdb someone forgot to return it 2010-02-27 00:04:51 +00:00
Viorela Ila b6599ebdce readst the tree files 2010-02-26 22:23:00 +00:00
justinca 9941b28128 Fix matrix inverse square root so it, once again, returns an upper triangular matrix 2010-02-26 18:53:41 +00:00
Manohar Paluri 940202226b added #pragma 2010-02-26 14:45:17 +00:00
Frank Dellaert d21ff82d21 Kruskal skeleton 2010-02-26 13:31:38 +00:00
Kai Ni 87c8465315 the beautiful Jacobian of compose in pose2 2010-02-26 10:55:41 +00:00
Frank Dellaert c40760485d I think we might have a problem: is expmap<Pose2> correct? Uncomment the new test in testPose2. It does not match what is said in http://www.cis.upenn.edu/~cis610/cis610lie1.ps. 2010-02-26 06:00:58 +00:00
Frank Dellaert 0004d90feb formatting only 2010-02-26 05:30:02 +00:00
Frank Dellaert 38ed1a5cdd more compulsive checking, more efficient removing 2010-02-26 05:29:45 +00:00
Kai Ni 73848d9e0e added comments to make people realize it is for the matlab wrapper not actually c++ implementation 2010-02-26 05:05:05 +00:00
Kai Ni 7e8aa6e6b9 add unit test for the constructor 2010-02-26 05:04:03 +00:00
Frank Dellaert 5e97d07f5e *it is already the right type 2010-02-26 04:03:56 +00:00
Frank Dellaert 0a33b50554 use Matrix.resize 2010-02-26 04:03:31 +00:00
Frank Dellaert 17bd59ec80 only call alpha calls if CBLAS version will be called. 2010-02-26 03:23:48 +00:00
Frank Dellaert 044ea1348d Modernized/refactored, esp. with regards to map insert and iterating. 2010-02-26 03:20:15 +00:00
Alex Cunningham 6efac9d549 Adding blas autotools macro 2010-02-25 23:32:38 +00:00
Alex Cunningham 9d704bb977 Added flag to default Factorization for old or new elimination, defaulting to old code. 2010-02-25 21:07:35 +00:00
Alex Cunningham 5b60511505 Reverted default elimination code to older implementation - use switch in optimize() or eliminate() to use newer code. 2010-02-25 20:43:59 +00:00
Kai Ni c56ee9ea0d added a new constructor that takes a list 2010-02-25 08:16:33 +00:00
Alex Cunningham 74787df3fc Added ability to insert whole configs at a time to LieConfig and TupleConfig 2010-02-25 02:50:01 +00:00
Frank Dellaert 93a3f48920 Created patch to camera homography function with Duy 2010-02-25 00:05:27 +00:00
Alex Cunningham 9955ea20bd Added pure cblas implementation of multiplyAdd functions. This does not have autotools support yet, so to enable, goto cpp/Makefile.am, comment out the block concerning GSL/ATLAS, and uncomment the above section enabling just blas. 2010-02-24 18:12:48 +00:00
Alex Cunningham f8c4e1fe27 Fixed bug in unit test causing crashes, altered corner case test for column insertion 2010-02-24 18:09:15 +00:00
Alex Cunningham 022f706d94 Changed default elimination algorithm to newer one with fewer matrix allocations to solve crashing bug from LM discovered in MAST 2010-02-24 14:19:52 +00:00
Frank Dellaert 04f7bbf253 use vector_scale_inplace 2010-02-24 06:15:06 +00:00
Frank Dellaert 696be0d0c1 RETURN CONST REFERENCES WHERE YOU CAN and some inlining 2010-02-24 06:14:43 +00:00
Frank Dellaert dd9446993a 5-fold performance improvement in combined between function 2010-02-24 06:14:02 +00:00
Frank Dellaert 51281ea78f in-place colamd 2010-02-24 06:13:11 +00:00
Frank Dellaert 71089a6354 vector_scale_inplace 2010-02-24 06:12:56 +00:00
Frank Dellaert c1f50a0637 fixed noise model, removed istringstream and getline in favor of ignore 2010-02-24 06:11:52 +00:00
Kai Ni 547427514f add save functions for Matrix and Vector to save them to disk 2010-02-24 00:12:10 +00:00
Alex Cunningham ac41ee7215 Added a test in GaussianFactor to demo a problem found in MAST where eliminating a single factor with two priors causes a memory corruption error. To run the test and see the error, go to the last test in testGaussianFactor called "exploding_MAST_factor" and uncomment the indicated line. 2010-02-23 18:41:07 +00:00
Alex Cunningham a2310b4eab Fixed small error in NonlinearConstraint and added note explaining why nonlinear constraints do not use a constrained noisemodel in the nonlinear sense. 2010-02-23 18:37:17 +00:00
Richard Roberts 1df4385d84 Added 'verbose' flag, making unit tests silent 2010-02-23 17:04:49 +00:00
Frank Dellaert 47a01b1d90 Tried making tests less verbose 2010-02-23 15:13:49 +00:00
Frank Dellaert 86e482bb08 ignore generated test files 2010-02-23 15:00:57 +00:00
Frank Dellaert 3a8e7de5e3 fixed testWrap unit test 2010-02-23 14:59:30 +00:00
Frank Dellaert 03efd69079 fixed files_equal for new unit testWrap setup 2010-02-23 14:54:28 +00:00
Frank Dellaert 2bba5824fa use sparse 2010-02-23 14:53:30 +00:00
Manohar Paluri 032c8887d6 added point-point-point check 2010-02-23 13:14:07 +00:00
Kai Ni 5594d162a2 allocate noise model once 2010-02-23 05:28:39 +00:00
Kai Ni 3ae81002be fixed the unit tests 2010-02-23 05:23:15 +00:00
Manohar Paluri 8900a37d93 removed unncessary prints 2010-02-23 05:08:42 +00:00