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  • f5a6a10feb debug hard constraint and make pose2prior work Kai Ni 2010-01-16 05:08:29 +0000
  • fb3e38b161 25% performance increase by improving weighted_eliminate Frank Dellaert 2010-01-16 04:57:58 +0000
  • 26246188af Added planar graph to timing script Frank Dellaert 2010-01-16 04:46:35 +0000
  • eef8445ebd added Kai's trick Frank Dellaert 2010-01-16 04:24:35 +0000
  • a4ed0a191d Forgotten header numericalDerivative.h Frank Dellaert 2010-01-16 04:22:41 +0000
  • 07c7c4c0bd print size with ordering Frank Dellaert 2010-01-16 04:22:21 +0000
  • a956c1a8be svn restored from 1733. this commit updates gtsam to version 1774, which now appears as 1734. Chris Beall 2010-01-16 01:16:59 +0000
  • 5c0cd093fd moved relative_bearing to Rot2, changed derivatives to new-style Frank Dellaert 2010-01-14 16:57:48 +0000
  • 53a03a0021 Changed signature of tree insert Frank Dellaert 2010-01-14 16:05:04 +0000
  • f645b560ea Added constructor body Frank Dellaert 2010-01-14 15:35:23 +0000
  • c7e0fe9fd8 fixed template instantiation Frank Dellaert 2010-01-14 15:32:14 +0000
  • e7bf219498 removed .cpp Frank Dellaert 2010-01-14 15:31:58 +0000
  • 25372aaa12 c_str Frank Dellaert 2010-01-14 15:31:42 +0000
  • e1388c0f0d add Ordering-inl.h Kai Ni 2010-01-14 07:56:03 +0000
  • dd697a838d added TupleConfig.h as header Frank Dellaert 2010-01-14 06:20:34 +0000
  • df62213619 RangeFactor works Frank Dellaert 2010-01-14 06:00:17 +0000
  • a552ba4539 Comments/formatting only Frank Dellaert 2010-01-14 05:59:33 +0000
  • 8088aea598 Added double as Lie type, needed to remove Lie.h include from Vector.h Frank Dellaert 2010-01-14 05:58:58 +0000
  • 1519d029dc use PredecessorMap instead of map<Key,Key> Kai Ni 2010-01-14 05:24:20 +0000
  • 8562c00a52 Explicit instantiation to fix link error on Linux, also header to install that was missing from Makefile.am Richard Roberts 2010-01-14 05:01:40 +0000
  • 9bf6409b16 BearingFactor works Frank Dellaert 2010-01-14 04:35:18 +0000
  • 32626b3391 bug fix (only worked on Mac) Michael Kaess 2010-01-14 03:42:34 +0000
  • 68d90772e6 ordering is fixed Kai Ni 2010-01-14 03:21:07 +0000
  • ac10c440e1 PairConfig is implemented, VSLAMConfig is now a typedef! Richard Roberts 2010-01-14 02:58:29 +0000
  • 6b3e8cf49c simulated2D now reduced to one .h and .cpp, in its own namespace, better naming, and new-style functions to serve as example Frank Dellaert 2010-01-14 02:50:06 +0000
  • fca2de8f95 fix unit test Kai Ni 2010-01-14 02:21:14 +0000
  • 7ad114c72f problem with predecessorMap2Graph Kai Ni 2010-01-14 02:16:29 +0000
  • 63440f937f almost fixed oredering except one function call Kai Ni 2010-01-14 02:07:14 +0000
  • 5a02b36723 Solved some linking problems Frank Dellaert 2010-01-14 01:44:00 +0000
  • 6c7dfabe5b remove template class G and V from predecessorMap2Graph as Frank suggested Kai Ni 2010-01-14 01:25:40 +0000
  • 3c66861790 fix the graph related functions in FactorGraph as well as its unit tests Kai Ni 2010-01-13 23:59:46 +0000
  • 93465945e9 Large gtsam refactoring Frank Dellaert 2010-01-13 22:25:03 +0000
  • 22b4912d5e adding #include<boost/shared_ptr.hpp> to graph-inl.h because this dependency doesnt seem to be working without it on gcc 4.3.3 John Rogers 2010-01-13 19:36:52 +0000
  • c0bc7e6c10 fix a bug in composePoses that switched the order of compose parameters Kai Ni 2010-01-13 06:02:18 +0000
  • 2a094b7491 return shared_ptr in composePoses Kai Ni 2010-01-13 02:09:16 +0000
  • 8d28763339 Vector and Matrix initialization optimization Richard Roberts 2010-01-12 16:12:31 +0000
  • 4369cd2d92 1) add a compose function that compose all the poses in a factor graph given the spanning tree 2) add a new graph-inl.h which takes care of all the boost graph related functions to prevent the copy and paste across several classes Kai Ni 2010-01-12 16:12:25 +0000
  • bea55b5f5b Fixed double map lookup Richard Roberts 2010-01-12 16:11:24 +0000
  • 769763a35d new target/ignore Frank Dellaert 2010-01-12 03:16:45 +0000
  • fcb7c024a7 bearing functions and derivatives Frank Dellaert 2010-01-12 02:10:42 +0000
  • 4b459c45c3 return identity Frank Dellaert 2010-01-12 02:09:43 +0000
  • 5163684077 norm Frank Dellaert 2010-01-12 02:09:03 +0000
  • 1aed18717b combined evaluation and derivatives Frank Dellaert 2010-01-12 02:08:41 +0000
  • 2c8d8dbde4 NonlinearOptimizer constructor now requires shared_ptr to prevent storing pointers to stack and temporary variables. Code that uses it will need to be modified, but CitySLAM is already done. Richard Roberts 2010-01-11 20:17:28 +0000
  • 40889e8f50 added an absolution threshold $epsilon_abs$ to conjugateGradients. added utility functions to several class to have the same interface which can be used by template functions Kai Ni 2010-01-11 08:32:59 +0000
  • 1b53a240b9 removed prints Manohar Paluri 2010-01-11 01:09:07 +0000
  • e9b0bade03 Access to keys Frank Dellaert 2010-01-11 00:53:53 +0000
  • 71fe372fb3 test successive iterates Frank Dellaert 2010-01-11 00:53:43 +0000
  • aa2aa4149c Special case for trace==1 in Rot3 logmap Richard Roberts 2010-01-10 23:36:37 +0000
  • b0fd5396ad Bug fix in Rot3 for logmap(identity) Richard Roberts 2010-01-10 22:58:30 +0000
  • 1dcc864d97 Comment cleanup to /** style and adding global print functions Richard Roberts 2010-01-10 22:41:23 +0000
  • 78a579a24a add the missing #pragma once Kai Ni 2010-01-10 22:15:34 +0000
  • f8be2c2626 dim, expmap, logmap works Viorela Ila 2010-01-10 21:53:38 +0000
  • 64eca2d550 addConstraint Frank Dellaert 2010-01-10 19:25:19 +0000
  • d11b2e6bd5 Added omitted headers Frank Dellaert 2010-01-10 18:37:55 +0000
  • 88ae5380a8 Removed Vector-specific versions of NumericalDerivative, instead Vector is now a Lie object Richard Roberts 2010-01-10 18:23:47 +0000
  • 1a96ef41cf Created Pose3Config, Pose3Graph, and tested loop closure optimization. Frank Dellaert 2010-01-10 18:21:20 +0000
  • 2fe02dbaa7 Moved optimization tests to testPose2Graph Frank Dellaert 2010-01-10 18:20:10 +0000
  • edb68b3b60 Fixed typo in LieConfig expmap(Vector) Richard Roberts 2010-01-10 17:48:55 +0000
  • 33ba34a1f6 Minimized headers included in Lie.h, removed print from testLieConfig Richard Roberts 2010-01-10 17:26:44 +0000
  • 8d84078036 Loop closure tested Frank Dellaert 2010-01-10 17:02:49 +0000
  • 12caabb667 Method to add a factor without having to do shared factor dance Frank Dellaert 2010-01-10 17:02:35 +0000
  • 120f1301c2 operator[] Frank Dellaert 2010-01-10 17:01:48 +0000
  • 710bce5cc4 Pose2Config is now simply a typedef (note that for linking specific template instantiations were needed). Frank Dellaert 2010-01-10 16:17:55 +0000
  • 4a21fb9387 Fixed 2nd expmap template, which now creates a VectorConfig and calls the first template Frank Dellaert 2010-01-10 16:16:03 +0000
  • 65e4dc1342 pose2Circle Frank Dellaert 2010-01-10 15:46:18 +0000
  • 43b2facd10 Now Pose3Config == LieConfig Frank Dellaert 2010-01-10 14:59:39 +0000
  • 92c58e50a1 Small changes, mainly const correctness Frank Dellaert 2010-01-10 14:59:22 +0000
  • c957672656 Small to change to work well with LieConfig Frank Dellaert 2010-01-10 14:55:19 +0000
  • 794ffd3b2f Fixed significant bug in Pose2Factor, where we forgot to multiply the error with the square root inverse covariance. Frank Dellaert 2010-01-10 13:55:55 +0000
  • 8061f29ec5 added test clarifying Ax-b \approx h(x)-z Frank Dellaert 2010-01-10 13:54:34 +0000
  • f1f21a8589 inverted sign of square root to make inv sqrt positive for simple covariance matrices Frank Dellaert 2010-01-10 13:53:31 +0000
  • bf315781af defined global functions in Lie.h rather than here Frank Dellaert 2010-01-10 12:35:41 +0000
  • 6bcb9d08d6 Unit tests for correct "Agrawal06iros" versions: they are indeed correct. Frank Dellaert 2010-01-10 12:26:31 +0000
  • 30367e35fb Much faster compund rotation using Justin's (indeed correct) formula Frank Dellaert 2010-01-10 12:25:46 +0000
  • d5eade62ef Moved expmap and logmap to .cpp, also tested correct "Agrawal06iros" versions, and they are indeed correct (see testPose3). Frank Dellaert 2010-01-10 12:24:31 +0000
  • ec1b57ed08 Added Lie required functions (trivial) for Vector. Not in Vector.h as this becomes circular. Frank Dellaert 2010-01-10 12:22:59 +0000
  • 4fa53a1f79 Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function. Richard Roberts 2010-01-10 06:35:16 +0000
  • 6a7987fa91 fix Pose2Prior problem and adding prior factor when splitting factor graph Kai Ni 2010-01-09 23:39:11 +0000
  • 2b82ff65e7 Deriving Lie objects from a base class Lie<T>, which provides member functions to access global functions, for use in MATLAB. Richard Roberts 2010-01-09 23:15:06 +0000
  • d015b31799 more meaningful error messages for matrix operations Kai Ni 2010-01-09 07:06:29 +0000
  • cc358fb2ce removed print statements Frank Dellaert 2010-01-09 02:37:58 +0000
  • 5fbb820341 fixed comments and tolerances Frank Dellaert 2010-01-09 02:27:49 +0000
  • 6851b31fad Added static methods to construct rotations, coded up convention for yaw-pitch-roll, modernized RQ Frank Dellaert 2010-01-09 00:03:47 +0000
  • d4f92c7bb6 pass FactorGraph as reference into split Kai Ni 2010-01-08 20:27:10 +0000
  • 06b7f8ee04 add split to FactorGraph Kai Ni 2010-01-08 19:07:46 +0000
  • 5dc237eeea BetweenFactor is a template that models the measurement between two Lie types e.g. Pose2 or Pose3. Pose2Factor and Pose3Factor are now simply typedefs. Frank Dellaert 2010-01-08 15:32:45 +0000
  • e5fe4a69f7 change no. of build processes in eclipse to 2 Kai Ni 2010-01-08 07:51:29 +0000
  • 215ff24d0f generate ordering by breadth-first-search, a lot faster than before Kai Ni 2010-01-08 04:12:23 +0000
  • 8d22b3aca2 Just refactoring Frank Dellaert 2010-01-08 03:38:05 +0000
  • f684becf1f Fixed Dbetween1 Frank Dellaert 2010-01-08 03:06:03 +0000
  • 19a3e228d7 Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes. Richard Roberts 2010-01-08 00:40:17 +0000
  • 1bc9727e9e updated ignore Frank Dellaert 2010-01-07 23:20:35 +0000
  • a845b3d30a generate ordering from the spanning tree Kai Ni 2010-01-07 08:00:54 +0000
  • 6298a45050 use prim algorithm instead of kruskal for finding MST, which yields the parent map. Kai Ni 2010-01-07 06:25:54 +0000
  • 20c6f29823 Moved control-related components to separate library Alex Cunningham 2010-01-06 20:01:34 +0000
  • b20ed42134 log and between Frank Dellaert 2010-01-06 19:29:41 +0000
  • 8fb2c00fc1 fixed the compilation warnings in CppUnitLite Kai Ni 2010-01-06 18:59:14 +0000
  • f77da96caf Modernized and tested RQ and added Rot3::ypr. Note this yaw-pitch-roll is different from ML version, which is focused on cameras. Let the fun begin... Frank Dellaert 2010-01-06 15:52:43 +0000
  • 9845a5ae37 add findMinimumSpanningTree to FactorGraph Kai Ni 2010-01-06 11:15:37 +0000