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  • 16a9ba1fdc Removing the svn:external property that pulls in GotoBLAS Alex Cunningham 2010-01-21 16:49:02 +0000
  • 523c8630d3 works at least on already solved data... Michael Kaess 2010-01-21 16:09:57 +0000
  • 0dc4f417e9 sampling from NoiseModel Frank Dellaert 2010-01-21 08:31:18 +0000
  • 8fd0c2ae72 new fluid relinearization algorithm, in sync with lyx Michael Kaess 2010-01-21 07:38:37 +0000
  • 9db7623f80 Improved instructions for GSL/ATLAS Alex Cunningham 2010-01-21 01:03:34 +0000
  • 063aa14118 Reimplemented matrix::householder_update using GSL and BLAS, you'll need to edit Makefile.am to enable the new version -- see email Alex Cunningham 2010-01-21 00:59:33 +0000
  • 188561d925 removeTop/Path now returns a BayesNet to avoid converting the conditionals to a factor graph Michael Kaess 2010-01-21 00:38:22 +0000
  • eb03f78e7d Removing dependency hack speeds up compilation Richard Roberts 2010-01-20 20:47:15 +0000
  • 588c119bf3 Added timing script for Matrix::householder_() Alex Cunningham 2010-01-20 18:52:31 +0000
  • 5f588031bc Merged NoiseQR back into trunk Alex Cunningham 2010-01-20 18:32:48 +0000
  • 9c9007920a Changed the interface on Matrix::column() so that it uses the one in our library (now called column_() ) rather than the boost default. Currently, our implementation just uses the boost default, but this may change due to timing results. Alex Cunningham 2010-01-20 16:08:14 +0000
  • 98b143cd22 Switched all loop indices in Matrix/Vector to size_t, with improved results in timeGaussianFactorGraph Alex Cunningham 2010-01-20 14:42:05 +0000
  • b4f9163296 Added more labels and results (with higher numbers of repetitions) for timeGaussianFactorGraph Alex Cunningham 2010-01-20 14:31:24 +0000
  • 8db99db57e Small performance improvement for matrix_augmented, with accompanying test in timeGaussianFactor Alex Cunningham 2010-01-20 14:09:44 +0000
  • 6bc0462669 Checked Matrix::collect() with different timing metric, and memcpy has approx 25% speedup over original version. Matrix_range is slower or the same speed as the original version. Alex Cunningham 2010-01-20 13:45:22 +0000
  • 977a97eacf rename variable Kai Ni 2010-01-20 09:47:09 +0000
  • aae49e43f0 code factorization, speedup Michael Kaess 2010-01-20 06:49:19 +0000
  • ae908316e0 add comments Kai Ni 2010-01-20 06:34:25 +0000
  • 19dc8bf4b1 Fixed size() crash when BayesTree empty, added clear() function to BayesTree, added and removed #includes to fix link errors Richard Roberts 2010-01-20 04:23:35 +0000
  • e767996b45 same bug fix as in ISAM2 Michael Kaess 2010-01-20 03:54:20 +0000
  • 55e414cbdd Tried noalias() for collect(), but no real improvement Alex Cunningham 2010-01-20 03:25:55 +0000
  • 3bf15333af move ordering into the solver, and the nonlinear optimizer is now exact <G, T, L> Kai Ni 2010-01-20 02:28:23 +0000
  • 03ec3e3e62 Implemented a version of collect() using matrix_range, but it had worse performance than memcpy. New version of vector_scale[column] with new pointer arithmetic implementation for approx 20% improvement. Alex Cunningham 2010-01-20 02:28:25 +0000
  • 820ae5682d Optimized row version of vector_scale with approx 20% improvement Alex Cunningham 2010-01-20 02:04:25 +0000
  • ecde508318 incremental nonlinear working Michael Kaess 2010-01-20 01:52:40 +0000
  • b860f06614 Switched Matrix::collect() over to a memcpy, but the results weren't actually an improvement Alex Cunningham 2010-01-20 01:42:36 +0000
  • d2291a38d1 bug fixes after COLAMD activiation: BayesTree::insert was wrong, BayesTree::removeTop/Path fixed and simplified Michael Kaess 2010-01-20 01:24:32 +0000
  • 66607897a5 Added vector_scale timing benchmarks Alex Cunningham 2010-01-20 01:05:40 +0000
  • ff83a7b18e Fixed compile error in testNoiseModel Alex Cunningham 2010-01-20 01:05:18 +0000
  • b47438a86c Smart named constructors Covariance/Variances/Variance Frank Dellaert 2010-01-20 00:26:49 +0000
  • f577b27f52 Small optimizations on Matrix::collect(), additional timing capabilities, and now collect() can have dimensions specified to avoid need for lookup. Alex Cunningham 2010-01-19 21:49:22 +0000
  • 67878830a6 Added timeMatrix.cpp to test specific matrix operations Alex Cunningham 2010-01-19 20:59:22 +0000
  • 3cdbaf81c7 Factorgraph-specific QR factorization now done by the NoiseModel: slow Gram-Schmidt for Constrained, fast Housholder for any other (Gaussian) model. Frank Dellaert 2010-01-19 19:06:02 +0000
  • 6f2b5a904a save on fabs Frank Dellaert 2010-01-19 19:04:37 +0000
  • 9f4da004c2 got rid of verbose printing Frank Dellaert 2010-01-19 19:04:18 +0000
  • fb0ca07bf1 Added and tested whitening parameter for matrix() and matrix_augmented() Alex Cunningham 2010-01-19 16:52:01 +0000
  • fbee0bd749 Fixing compile issue in SubgraphPreconditioner.h Alex Cunningham 2010-01-19 13:29:40 +0000
  • 3806125096 add linear system as a template parameter in nonlinear optimizer fixed a nasty bug and change the internal data type of subgraph preconditioner from reference to boost shared pointer. reference is not a good idea for class members, because no type checking will happen Kai Ni 2010-01-19 10:46:12 +0000
  • 2eac3b7235 minor typo - comment only Alex Cunningham 2010-01-19 05:46:04 +0000
  • 306ac0a4b2 Fixed clobbered checkin Alex Cunningham 2010-01-19 05:45:25 +0000
  • 88e465910a SQP tests and implementation now use the new Key system Alex Cunningham 2010-01-19 05:33:44 +0000
  • 2a57a04ba6 get_model Frank Dellaert 2010-01-19 05:29:31 +0000
  • 6dcc275432 small comment/print Frank Dellaert 2010-01-19 04:39:54 +0000
  • b01c111a1d GaussianFactor now uses noiseModel internally - not yet externally Frank Dellaert 2010-01-19 04:39:28 +0000
  • 81aaceb890 Whiten now class-specific, access to sigmas Frank Dellaert 2010-01-19 04:38:58 +0000
  • ebbdfc79aa comment out overflow exception Kai Ni 2010-01-19 04:18:59 +0000
  • ef2fb243c2 fixed unit test after colamd change Michael Kaess 2010-01-19 03:43:10 +0000
  • 2507b6aaca Cleaned up commented line after fix to use the colamd ordering. Richard Roberts 2010-01-19 03:16:09 +0000
  • 0311d2a2a2 Very very small change :-) Richard Roberts 2010-01-19 02:57:08 +0000
  • 0769af6f20 comment Frank Dellaert 2010-01-19 01:41:44 +0000
  • a45893a434 selective incremental linearization works; bug fix in landmark initialization (frank01 again much faster) Michael Kaess 2010-01-19 01:18:28 +0000
  • a2bce15c4b selective update of linearization point Michael Kaess 2010-01-19 00:15:46 +0000
  • 0e6607d160 relinearization working, but currently applied to all variables Michael Kaess 2010-01-18 22:37:44 +0000
  • 5e15564525 Speedups: Matrix mult. in Gaussian NoiseModel. Removed size check in operator* in Matrix.h - ublas does this check when in debug mode. Richard Roberts 2010-01-18 21:45:44 +0000
  • e935f1745e stop copying matrices... Frank Dellaert 2010-01-18 21:17:25 +0000
  • f8ef284b30 fixed bearing/range, large speedup for batch; incremental creation of Config works Michael Kaess 2010-01-18 20:17:31 +0000
  • 1f0de30a62 Removed unnecessary headers, now only included when GTSAM_MAGIC_KEY is defined Richard Roberts 2010-01-18 19:36:02 +0000
  • e523b148cf Moved tree stuff to graph, removed ordering-inl.h Frank Dellaert 2010-01-18 19:11:22 +0000
  • 8e3a8f08c8 incremental processing of planarSLAM; bug fix in ISAM2-inl Michael Kaess 2010-01-18 18:13:53 +0000
  • dfeacb218e Added tests for Keys, Added TypedLabeledSymbol class to allow for runtime symbols on keys Alex Cunningham 2010-01-18 16:18:02 +0000
  • 7653aa8747 I changed myconfigure to Frank Dellaert 2010-01-18 16:13:07 +0000
  • bbf6cabe9d generate ordering and pose config in the initialization stage Kai Ni 2010-01-18 09:24:38 +0000
  • 18414b1286 VectorConfig/Config confusion resolved; planarSLAM integrated Michael Kaess 2010-01-18 08:05:33 +0000
  • eb3e0067ef simplify covariance formulation Kai Ni 2010-01-18 07:11:34 +0000
  • 6a163d1a84 fix compilation error caused by new covariance type Kai Ni 2010-01-18 06:17:01 +0000
  • 05b07d443e add linear system solver as a template class parameter in nonlinear optimizer. Kai Ni 2010-01-18 05:51:19 +0000
  • a4a6e002e5 NOISE MODEL. Frank Dellaert 2010-01-18 05:38:53 +0000
  • 6b2190159d restored lost changes Michael Kaess 2010-01-18 04:53:17 +0000
  • 42f4ff228b code cleanup, recovering estimate while dealing with incremental adding of factors, planar with new SLAM Michael Kaess 2010-01-18 04:32:45 +0000
  • 9ac1622514 Removed obsolete files that reappeared after svn crash Richard Roberts 2010-01-18 03:00:00 +0000
  • 149e6cef36 Added an explicit instantiation to fix a link error that was only detected on Linux Richard Roberts 2010-01-18 02:23:10 +0000
  • 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> Richard Roberts 2010-01-17 19:34:57 +0000
  • ea14959835 NoiseModel inhertance structure reversed, all constructors protected, new static "factories" Frank Dellaert 2010-01-17 17:47:23 +0000
  • 20b4436da3 Michael Kaess 2010-01-17 16:13:16 +0000
  • 87f7e05c15 Identity model Frank Dellaert 2010-01-17 15:10:10 +0000
  • 5c6cfec7ab restored reset Frank Dellaert 2010-01-17 15:09:28 +0000
  • 80b3813a16 binary files should not be in repository Michael Kaess 2010-01-17 06:09:25 +0000
  • fbe425b966 relinearizing part of a BayesTree, requiring caching of intermediate results during elimination Michael Kaess 2010-01-17 06:06:20 +0000
  • a3fa194ca1 Noisemodel works in PriorFactor Frank Dellaert 2010-01-17 03:56:42 +0000
  • 8967027198 Testing R and Whiten Frank Dellaert 2010-01-17 03:29:23 +0000
  • 9ddeb569b5 GaussianNoiseModel Frank Dellaert 2010-01-17 01:28:15 +0000
  • 3a83e0678d KISS refactor of NoiseModel Frank Dellaert 2010-01-17 00:37:34 +0000
  • 4518069218 Frank Dellaert 2010-01-17 00:35:49 +0000
  • 09d2cb9101 added numericalDerivative.h to headers Manohar Paluri 2010-01-16 23:10:38 +0000
  • 0e17310e23 remove the printf Kai Ni 2010-01-16 22:56:57 +0000
  • 2174057578 Commented out another NoiseModel unit test Richard Roberts 2010-01-16 20:40:47 +0000
  • e4eaa22378 Comment out unit test for broken function only used in NoiseModel, working on fixing Richard Roberts 2010-01-16 20:18:45 +0000
  • 049cea6964 3D Pose SLAM + removed obsolete Urban files that somehow re-appeared in CitySLAM Frank Dellaert 2010-01-16 19:37:17 +0000
  • c051be9edf did not compile Frank Dellaert 2010-01-16 19:35:50 +0000
  • 6714ba59f4 delete binary file testPose2Prior Kai Ni 2010-01-16 19:09:13 +0000
  • f0ae2c064e Merging in NoiseModel, not yet used though Richard Roberts 2010-01-16 18:39:39 +0000
  • 99db4c37d8 2D Pose SLAM: created a new templated factor to accommodate GPS measurements, and as part of the refactor I consolidated all Pose2 SLAM classes in pose2SLAM.h. For backwards compatibility it contains Frank Dellaert 2010-01-16 18:01:16 +0000
  • 3c9c8bcfe5 Pose2Prior is now a typedef, improved some derivatives Frank Dellaert 2010-01-16 16:46:57 +0000
  • 4914091c87 Pose2Prior test Frank Dellaert 2010-01-16 15:39:39 +0000
  • 2605d18152 removed obsolete tests Frank Dellaert 2010-01-16 14:59:22 +0000
  • b0f27c5d4b set sigma to 1 in pose2prior Kai Ni 2010-01-16 07:50:14 +0000
  • a4d61d2f23 Little performance twiddles that make little difference Frank Dellaert 2010-01-16 07:22:34 +0000
  • a8afe0da7c Forgot pre-multiply of error vector Frank Dellaert 2010-01-16 07:00:07 +0000
  • 91a0fb23df Weighted pseudo-inverse now takes weights (1/sigma^2). Does not make a lot of performance difference. Frank Dellaert 2010-01-16 06:25:11 +0000
  • fce2a668bb uncomment the commented out unit tests during debugging Kai Ni 2010-01-16 05:10:07 +0000