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  • d0aed559b5 TypedLabeledSymbols now convert properly to Symbols, so they can be used to add a runtime label to a TypedKey to express "Pose 1 of robot A" Alex Cunningham 2010-02-10 14:39:58 +0000
  • 31999ecb1f added 4-way symbolic factor fixed a bug in the bayes tree to graphviz routine Kai Ni 2010-02-09 22:59:18 +0000
  • e83b6c3b84 Normalizing rotation matrix to fix numerical instability when composing many poses Richard Roberts 2010-02-09 22:44:02 +0000
  • 31fc894a4a added 4-way symbolic factor fixed a bug in the bayes tree to graphviz routine Kai Ni 2010-02-09 21:32:14 +0000
  • d2a4bdae3c Made simulated2D factors more generic - can now specify key types Alex Cunningham 2010-02-09 19:47:39 +0000
  • 8ff64793f1 Apparently, expmap != exmap. TupleConfigN's are no longer broken now. Alex Cunningham 2010-02-09 19:27:28 +0000
  • 942e2b9c6d static chr() function for TypedSymbol, and another version of Symbol (don't use) Alex Cunningham 2010-02-09 03:59:45 +0000
  • 0c74e0c309 Ensured that constraints add keys to keys_ Alex Cunningham 2010-02-09 01:52:36 +0000
  • 8aa440a679 Fixed the instantiation macros and exmap global functions for TupleConfigN Alex Cunningham 2010-02-09 01:24:41 +0000
  • 18d7fcc299 Added instantiation macros for TupleConfigs and NonlinearConstraints Alex Cunningham 2010-02-08 22:29:00 +0000
  • fbef948254 Bug fix in replace() Richard Roberts 2010-02-08 22:22:38 +0000
  • ea9b44ea15 Fixed indentation Richard Roberts 2010-02-08 22:21:56 +0000
  • ed338300a1 Instantiation script for TupleConfig Alex Cunningham 2010-02-08 20:53:18 +0000
  • ea3b8083b0 Fixed more tests for NonlinearConstraints, inequality constraints now work. Alex Cunningham 2010-02-07 01:18:17 +0000
  • 814fb949ba fixed critical bug relating to height of tree Chris Beall 2010-02-06 17:45:40 +0000
  • 675b30d1c1 updates to BTree Chris Beall 2010-02-06 15:53:31 +0000
  • f88438bab4 Removed SQP optimizer and moved remaining SQP optimizer tests into testSQP. All equality constraints should be fully functional now. Inequality constraints still to come. Alex Cunningham 2010-02-06 14:48:46 +0000
  • 219dfd262d SQP now works with single configs using the TupleConfigs, without needing a separate optimizer. Alex Cunningham 2010-02-06 05:14:52 +0000
  • d8a8575d26 Removed a fixme comment Alex Cunningham 2010-02-06 05:12:09 +0000
  • d1267d1ef3 Added more constructors, print functionality and formatting for TupleConfig Alex Cunningham 2010-02-06 05:10:25 +0000
  • bb74b5c882 Added a config template parameter for ProjectionFactors Alex Cunningham 2010-02-06 05:08:52 +0000
  • af9f45ff24 Used template parameters in simulated2D to make it possible to template factors on a config type with typedefs for the previous usage so no other code needs to change Alex Cunningham 2010-02-05 14:49:40 +0000
  • 040d45cb45 Added wrapper classes for TupleConfig for ease of use. Alex Cunningham 2010-02-05 01:33:33 +0000
  • 8fe0795dd0 BTree moved into gtsam Chris Beall 2010-02-04 21:02:05 +0000
  • 5c1c8ee76f Changed PairConfig interface so that the internal configs need to be accessed with first() and second(). This is in anticipation of switching PairConfig to TupleConfig2. Alex Cunningham 2010-02-04 17:15:09 +0000
  • 2068477e32 Added pragma once to LieConfig to prevent errors if included multiple times Alex Cunningham 2010-02-04 16:08:59 +0000
  • 67744a5f07 Changed NonlinearConstraint to correctly use new keys Alex Cunningham 2010-02-04 16:08:11 +0000
  • 01bbd3cf8d Disabling SQP tests while transitioning config types and SQP implementation Alex Cunningham 2010-02-04 16:07:20 +0000
  • 843f11678b Recursive TupleConfig now has typedefs for 2-6 configs Alex Cunningham 2010-02-04 03:40:03 +0000
  • 4e70f14097 The recursive TupleConfig should be ready for use now. Alex Cunningham 2010-02-04 02:04:45 +0000
  • 550121013f fix const string problem in print Kai Ni 2010-02-03 20:12:16 +0000
  • e5a7d4c878 More functionality in TupleConfigs Alex Cunningham 2010-02-03 14:08:09 +0000
  • 94d50ddfb9 Added a liberal sprinkling of 'typename' to make TupleConfig work better Alex Cunningham 2010-02-03 13:57:34 +0000
  • a66a405dd5 Partially implemented version of a recursive TupleConfig that is still very much under testing. Alex Cunningham 2010-02-03 13:47:13 +0000
  • 2f16d8f6a1 Changed the order of constructor initializers in GaussianFactor to remove compiler warnings John Rogers 2010-02-01 16:04:14 +0000
  • 090ed16432 copy libcolamd during installation Kai Ni 2010-02-01 00:11:28 +0000
  • 5554f6fc7e Faster non-GSL versions of BLAS 2-style calls Frank Dellaert 2010-01-31 22:56:06 +0000
  • efe51c8419 Fixed typo in function name Alex Cunningham 2010-01-31 21:09:03 +0000
  • 2889a25aeb Fixed autotools files for GSL inclusion so that they don't include the wrong BLAS implementation when ATLAS is enabled Alex Cunningham 2010-01-31 18:26:18 +0000
  • c266012dcd Added GSL/ATLAS version of multiplyAdd() and transposeMultiplyAdd() Alex Cunningham 2010-01-31 18:25:03 +0000
  • 74dd7128ac Fixup cholesky decomposition - rename to LLt and RtR to make convention clear justinca 2010-01-31 18:07:29 +0000
  • 87cc573d34 Added a new combine process for GaussianFactors that allocates only one matrix when combining, rather than using append factor to make a large number of smaller matrices. There is a flag to switch between these modes, which currently defaults to the older approach. Currently, there does not appear to be a performance improvement, however. Alex Cunningham 2010-01-31 17:49:33 +0000
  • 9f16d7b07f Added in-place sub insert function to Vector Alex Cunningham 2010-01-31 17:24:01 +0000
  • 48d2dabe43 Added in-place insertion functions to Matrix, as well as a #define flag to enable or disable GSL code without a reconfigure. Alex Cunningham 2010-01-31 17:21:07 +0000
  • b5ca322d21 Added default tolerance value to equals in Key classes so that equals() works properly Alex Cunningham 2010-01-31 17:00:27 +0000
  • fa6a515bfd SAM was substantially sped up by inlining VectorConfig::insert Frank Dellaert 2010-01-31 16:05:16 +0000
  • 5e4b23df59 Matrix::multiplyAdd and transposeMultiplyAdd are "level 2" BLAS and speed up the numeric part of the code substantially. Alex might be able to speed them up even more by making them use real BLAS code within Matrix.cpp. Frank Dellaert 2010-01-31 16:04:24 +0000
  • 3b6c4917a9 GaussianBayesNet::backSubstituteInPlace Frank Dellaert 2010-01-31 04:39:41 +0000
  • ac870bce4c GaussianFactor::transposeMultiplyAdd Frank Dellaert 2010-01-31 03:33:53 +0000
  • 4f998e5ecd Matrix::transposeMultiplyAdd Frank Dellaert 2010-01-31 02:53:03 +0000
  • 9b4ff5e099 transposeMultiplyAdd provied BLAS-style call for iterative speed Frank Dellaert 2010-01-30 23:59:29 +0000
  • 6ef09583b9 multiplyInPlace shaves a few seconds off but is fairly dangerous - I feel ambivalent.... Frank Dellaert 2010-01-30 17:31:05 +0000
  • 161a47caa7 Frank Dellaert 2010-01-30 05:22:17 +0000
  • 881d739371 BLAS level 1 style "scal" saves even more time in PCG Frank Dellaert 2010-01-30 04:01:49 +0000
  • 4913326c22 BLAS level 1 style axpy calls in Vector and VectorConfig shave some seconds off PCG Frank Dellaert 2010-01-30 02:04:37 +0000
  • 65bc90bf15 timing VectorConfig to speed up iterative Frank Dellaert 2010-01-29 13:57:45 +0000
  • eb88a149a1 NonlinearFactors handle constrained noise models properly now, as before they would try to whiten and fail Alex Cunningham 2010-01-28 17:21:24 +0000
  • 06a062c931 Added special lines for static variables needed for template classes Viorela Ila 2010-01-27 19:45:31 +0000
  • f8d934eaa1 Fixed issue with configure script for enabling gsl and atlas Alex Cunningham 2010-01-27 14:37:45 +0000
  • 53cb1cca84 add some documentation Kai Ni 2010-01-27 05:22:17 +0000
  • ed45d436be add gsl and atlas to configure Kai Ni 2010-01-27 05:15:52 +0000
  • bc2a25385f Added updated timing results. Alex Cunningham 2010-01-27 05:08:54 +0000
  • 59c7ce7e29 Integrated householder-based QR into NoiseModel. Note that the examples for GFG have changed to ensure that they are actually a linearized version of the nonlinear example. Alex Cunningham 2010-01-27 04:39:35 +0000
  • 98b825ddbd Fixed loading of datasets Frank Dellaert 2010-01-27 03:41:23 +0000
  • ae073c0120 Comments, and better test of composePoses Frank Dellaert 2010-01-27 02:49:58 +0000
  • 8b87eebba6 commented GSl bit Frank Dellaert 2010-01-27 01:03:49 +0000
  • 3dd6f5adf1 Math doc now matches code but doc is fairly rough right now Richard Roberts 2010-01-26 20:54:03 +0000
  • 02210cc7e0 Argument order of load changed Richard Roberts 2010-01-26 20:31:25 +0000
  • 9b62b326c9 One more fix, inverse was actually needed in one case. Richard Roberts 2010-01-26 20:10:45 +0000
  • b82d054aaa Definitions of Lie::between, Pose2::compose, expmap, and derivatives were not correct. Fixed, but changes some behavior (iSAM and CitySLAM already fixed), will send email about this change. Richard Roberts 2010-01-26 20:00:17 +0000
  • 74828669b5 hairy derivative math moved from libraries/caml/geometry, with exmap on right now Frank Dellaert 2010-01-25 21:04:26 +0000
  • a0b96e7684 corrected case of Pose2SLAMoptimizer Manohar Paluri 2010-01-25 14:50:25 +0000
  • 1685920d52 fixed Ab2 bug Kai Ni 2010-01-23 05:29:04 +0000
  • afa964b8db Fixed sparse bug Frank Dellaert 2010-01-23 05:16:29 +0000
  • 744269343f add print Kai Ni 2010-01-23 04:46:00 +0000
  • b092fee64b pose2slamoptimizer unit tests worked Kai Ni 2010-01-23 03:49:05 +0000
  • 21c1af2b9f Collecting more statistics in isam2, logmap for configs Richard Roberts 2010-01-23 01:53:04 +0000
  • 4491db99be add beijing data set Kai Ni 2010-01-23 01:10:12 +0000
  • 7644ff0080 optimize returns Vector, does not update Frank Dellaert 2010-01-23 01:08:42 +0000
  • ada844300d Fixed compile issue in tests Frank Dellaert 2010-01-23 01:03:47 +0000
  • 807cffbd61 Pose2SLAMOptimizer prototype for use in MATLAB Frank Dellaert 2010-01-23 00:57:54 +0000
  • 7bc4ee65da allow pure linear steps (disabled) Michael Kaess 2010-01-23 00:21:34 +0000
  • 80d335ed77 added saveGraph function to BayesTree which writes out a dot file which can be visualized using graphviz dot command Manohar Paluri 2010-01-22 23:52:56 +0000
  • e87faa078d write correct information matrix to data file Kai Ni 2010-01-22 23:20:12 +0000
  • 2150b24e29 Fixed memory hog problem with Alex's help. SAM marginally faster (3-4% with 1000 poses, might be bigger effect for full dataset) Frank Dellaert 2010-01-22 23:00:35 +0000
  • 16c55975c1 Fix inverse_square_root, add cholesky decomposition options justinca 2010-01-22 22:28:03 +0000
  • e88ae4a944 add dataset.h/cpp Kai Ni 2010-01-22 20:18:40 +0000
  • ab155999cf simplified alg, but no measureable speed improvement Michael Kaess 2010-01-22 18:29:27 +0000
  • 351cdd18c2 case change: SharedGaussian and SharedDiagonal are now classes with their own header file. Needed for MATLAB TORO hail Mary Frank Dellaert 2010-01-22 17:36:57 +0000
  • 490791cd48 add writer module to dump the errors and time Kai Ni 2010-01-22 08:13:54 +0000
  • 4b778a4e82 fixed a bug in matrix solve function Kai Ni 2010-01-22 06:45:01 +0000
  • 1d093e388d changed main algorithm to allow recovery of exact solution Michael Kaess 2010-01-22 06:28:12 +0000
  • 75e29dc015 failing test Frank Dellaert 2010-01-22 05:45:59 +0000
  • 5367e5a157 All std::map<Symbol,T> are now SymbolMap<T>, which is just a thin wrapper around std::map. at(Key) is used instead of first checking with find when an exception should be thrown for non-existent keys. This does not change any behavior or timing currently. This check-in also includes some functions in BayesTree for gathering clique statistics. Richard Roberts 2010-01-22 04:41:40 +0000
  • 41a6e64bbb Fixed insert to use IndexTable, a new class Frank Dellaert 2010-01-22 02:27:26 +0000
  • 2cc777228b coments and variables only Frank Dellaert 2010-01-21 20:15:52 +0000
  • 7575996d52 Remove leftover commented out unused code justinca 2010-01-21 19:49:36 +0000
  • f89a53ed91 Bugfix in Rot3::logmap. The function checked for a trace of 3, but the check could fail due to rounding errors, causing the function to try to take acos(something larger than 1) resulting in NaNs being returned. justinca 2010-01-21 19:49:12 +0000
  • ac746ccead Improved performance of updateAb in NoiseModel with GSL/ATLAS. Various other small optimizations were made. Alex Cunningham 2010-01-21 18:51:59 +0000
  • 2183e09c67 fluid relinearization works Michael Kaess 2010-01-21 17:41:54 +0000