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  • 1525253123 Inequality Constraints now work in a simple obstacle-avoidance demo in testSQPOptimizer. It should be noted that convergence conditions are still not implemented. Alex Cunningham 2009-11-28 21:44:07 +0000
  • 395e4ae3f1 Fixed sign issue on nonlinear constraints, so that that it is not necessary to flip the sign on the delta configs before using exmap. Alex Cunningham 2009-11-28 21:00:09 +0000
  • 0ff7e3a5d9 Changed interface on constraint g(x) and grad_g(x) functions to take a list of keys, so that all of the variables in a factor can be used as necessary. Moved g(x) into base NonlinearConstraint class and some cleanup. Alex Cunningham 2009-11-28 19:18:02 +0000
  • 107c6846fb Added basic inequality constraint handling to NonlinearConstraint. Demo still in progress, but now constraints are explicitly handled as either equality or inequality constraints, with an active() function to determine if it is necessary to use the constraint. Created testOrdering for new subtract() function to remove parts of an ordering. Alex Cunningham 2009-11-28 18:35:36 +0000
  • 674d35855b Made "Debug" the default build type so we get -g flags Richard Roberts 2009-11-27 20:27:05 +0000
  • f3e825767b NonlinearConstraints now handle inactive constraints (when the state is already in the feasible region) by returning empty factors on linearization. Alex Cunningham 2009-11-27 18:42:01 +0000
  • cf6474c99b Added a graph implementation for multi-robot control systems. Currently can only really constrain the ends of a trajectory. Made a number of fixes and updates to the ControlConfig as well. Alex Cunningham 2009-11-27 17:59:03 +0000
  • f6ff04b75f One more fix... Richard Roberts 2009-11-26 20:56:33 +0000
  • 7f40b88427 Another fix Richard Roberts 2009-11-26 17:43:03 +0000
  • dd5d65b170 Small fixes Richard Roberts 2009-11-26 17:35:16 +0000
  • 2a2e11d05d Added the config and units for a robot control system example that keeps a position and velocity model of a robot's motion. Alex Cunningham 2009-11-26 05:52:17 +0000
  • da36d07b93 Adding buildtools not used by gtsam, but used by other projects (figuring people will always have gtsam checked out) Richard Roberts 2009-11-26 00:15:40 +0000
  • 43e4c66407 Added more detail to VSLAM test that diverges. Alex Cunningham 2009-11-24 16:03:57 +0000
  • d788e9833d Added tests to ensure that configs will only update existing values when using exmap and not add new ones if there are more values in the delta config. VectorConfig and VSLAMConfig both do this properly now. Alex Cunningham 2009-11-24 15:12:59 +0000
  • e3e79e3888 Added lagrange access function to the SQPOptimizer Added a test testSQP to try changing the initial Lagrange multiplier values to find a way around the stability problem, but there is no effect. Alex Cunningham 2009-11-24 14:44:46 +0000
  • 140e79572f Added a test to testSQP to check VSLAM solution stability when the initial config is away from the ground truth. The test without the nonlinear constraints has the same stability problem, and both the constrained and unconstrained versions are in place and disabled. Alex Cunningham 2009-11-24 14:14:03 +0000
  • fec280db8e Added a nonlinear constraint version of the stereo SQP example, but the test when the initial configuration is incorrect is not stable and the points continue moving away indefinitely. Alex Cunningham 2009-11-24 06:39:27 +0000
  • 31856ce598 SQPOptimizer can now do its own initialization of the Lagrange multipliers. Cleaned up NonlinearConstraint Alex Cunningham 2009-11-23 22:10:52 +0000
  • a5515d9d57 SQPoptimizer can now perform optimization, and has a test using the linear map-warping example. Alex Cunningham 2009-11-23 21:25:31 +0000
  • ac315082aa new example from RSS sqrtSAM in testBayesTree Viorela Ila 2009-11-23 20:11:10 +0000
  • 0b333630e7 Added an SQPOptimizer class with accompanying test - currently doesn't do much Alex Cunningham 2009-11-23 19:57:35 +0000
  • d15a7a073c SymbolicFactor works in Matlab Viorela Ila 2009-11-23 19:45:09 +0000
  • 36877532ad Added ground truth for VSLAM example in testSQP Alex Cunningham 2009-11-23 16:45:53 +0000
  • f272e2f6fe Added a second smoother test Frank Dellaert 2009-11-23 05:27:37 +0000
  • 9bac438dbe Play nice with BOOST_FOREACH: non-const begin/end. Also removed buggy clear(). Frank Dellaert 2009-11-23 05:27:19 +0000
  • 10a8ac34ec iSAM smoother test Michael Kaess 2009-11-23 01:16:58 +0000
  • 4951a25453 More efficient removeTop Frank Dellaert 2009-11-23 00:02:06 +0000
  • 35af122e83 Added a new version of removeTop and simplified update Frank Dellaert 2009-11-22 23:50:01 +0000
  • 7d384488e3 BayesTree::update generalized and moved from testIncremental to BayesTree; testIncremental removed Michael Kaess 2009-11-22 23:35:13 +0000
  • 64a43b0492 removeTop now does not bomb when a clique does not exist: it just does nothing Frank Dellaert 2009-11-22 22:59:56 +0000
  • 4e74edba72 Some simplification Frank Dellaert 2009-11-22 22:39:32 +0000
  • ab117947d7 update now takes a factor graph, rather than an individual factor Michael Kaess 2009-11-22 22:26:24 +0000
  • a3de1df5a4 adding orphans assuming that the first separator key refers to the parent; GTSAM_PRINT define Michael Kaess 2009-11-22 21:18:31 +0000
  • 198f73a05f Insert conditionals straight into the topless bayesTree Frank Dellaert 2009-11-22 18:40:55 +0000
  • 32db0595f4 using removeTop now Frank Dellaert 2009-11-22 18:27:14 +0000
  • 952798e751 fixed orphans bug Frank Dellaert 2009-11-22 18:22:17 +0000
  • 9da2f16f4d Removed copy/paste in unit tests Frank Dellaert 2009-11-22 18:12:29 +0000
  • d4aaa5d114 Added two more removePath tests and fixed bug in removeTop. But orphan list is still incorrect. Frank Dellaert 2009-11-22 18:06:28 +0000
  • 45292f7bd6 Cliques implemented; unit test on orphans for removePath; bug fix in removePath/orphans Michael Kaess 2009-11-22 17:40:24 +0000
  • 53754ccbb8 removeTop with one factor implemented and one test works (orphans not yet checked) Frank Dellaert 2009-11-22 17:34:59 +0000
  • 6f11c0803b Cliques class Frank Dellaert 2009-11-22 16:46:29 +0000
  • 7ce62f1626 Some template magic and boost:tie cleared up the compile issues in removePath Frank Dellaert 2009-11-22 16:04:51 +0000
  • 4449cfd30c remove_path now also returns list of orphaned subtree roots; compile problem... Michael Kaess 2009-11-21 23:41:43 +0000
  • 82aae3c161 Some re-factoring (using BOOST_FOREACH to loop over string list), root is now NULL after removing root clique Frank Dellaert 2009-11-21 21:48:10 +0000
  • 1fd0404ec9 Cleanup in testSQP, also demoed the unary constraint, as well. Alex Cunningham 2009-11-21 19:05:24 +0000
  • 00b5b25591 Awesome recursive version of removePath Frank Dellaert 2009-11-21 06:14:53 +0000
  • 072846a70f moved addClique and removeClique implementations to inl.h, removePath takes clique argument now Frank Dellaert 2009-11-21 06:07:46 +0000
  • 286d826119 removed print Frank Dellaert 2009-11-21 06:06:30 +0000
  • b113194e58 While watching TV :-) added some constructors for more readable tests. Frank Dellaert 2009-11-21 04:59:50 +0000
  • a0a250750b compare config Frank Dellaert 2009-11-21 04:22:59 +0000
  • 0286bc27eb removePath mostly working Michael Kaess 2009-11-21 03:38:13 +0000
  • 08f5b074a0 Added verbosity selector for the SQP demo to remove printouts every time it runs Alex Cunningham 2009-11-20 14:29:11 +0000
  • 715dc4474d functional STL magic Frank Dellaert 2009-11-20 14:18:26 +0000
  • d234365d53 involves is const Frank Dellaert 2009-11-20 14:17:52 +0000
  • 5f848f272b SQP demo that moves maps into the correct reference frames is now working using the NonlinearConstraint machinery. Alex Cunningham 2009-11-20 14:05:21 +0000
  • e440767db9 Use [involves], and now updating orphan list Frank Dellaert 2009-11-20 05:23:47 +0000
  • 55e85fd8a5 [involves] checks whether variable with that key is involved in any factor Frank Dellaert 2009-11-20 05:14:34 +0000
  • 6aba2f1c1c Changed initial SQP example to use exmap using the new scaling function for VectorConfig Alex Cunningham 2009-11-20 05:13:32 +0000
  • acfe742c29 Added a simple scaling function for VectorConfigs Alex Cunningham 2009-11-20 05:10:55 +0000
  • 714edb57f0 Basic implementation of a binary nonlinear constraint, with working linearization of a binary constraint. Alex Cunningham 2009-11-20 03:50:48 +0000
  • ee4a066275 Implemented linearization and equality for unary NonlinearConstraints. Current tests use a scalar example. Split out implementation into a separate implementation file. Alex Cunningham 2009-11-20 03:04:49 +0000
  • 4ca1dbf325 generalized most of the update algorithm Michael Kaess 2009-11-19 23:25:03 +0000
  • 429f27550c Added a NonlinearConstraint and testNonlinearConstraint. There is currently an abstract base class for constraints and a partially implemented unary constraint. Alex Cunningham 2009-11-19 16:50:18 +0000
  • cd913566f2 I now use push_back to add factors to the new factor graph, and called getOrdering to compute a colamd order. I fixed the test so it checks the right order. Unfortunately colamd is a worse ordering, and the two cliques from before are merged into one. Frank Dellaert 2009-11-19 06:37:06 +0000
  • 8d8503bd99 constructor with three parents Frank Dellaert 2009-11-19 06:34:28 +0000
  • b2eee54b5a push_back an entire factor graph Frank Dellaert 2009-11-19 06:34:07 +0000
  • e2a3d1cb8f Fixed test Frank Dellaert 2009-11-19 04:52:46 +0000
  • f98f49381a Added an example to testSQP to use for combining graphs Alex Cunningham 2009-11-18 21:57:59 +0000
  • d700cd2cac Made some small changes to testSQP to simplify the system and improve convergence. Alex Cunningham 2009-11-18 20:23:07 +0000
  • 7fc68e2d90 Updated testSQP to use a real SQP implementation as separate factors on the previous problem. SQP now works. Alex Cunningham 2009-11-18 19:42:14 +0000
  • 76d0a60b88 commented out all print statements Frank Dellaert 2009-11-18 18:22:08 +0000
  • f40182518a size() now returns correct nr. of cliques, not number of keys Frank Dellaert 2009-11-18 18:05:12 +0000
  • d0efe2da5e update almost correct, except for order Michael Kaess 2009-11-18 17:40:05 +0000
  • 23031fbc04 convert clique into factor graph Frank Dellaert 2009-11-18 17:28:07 +0000
  • 1edcdb6f80 added SymbolicFactor constructor that takes a SymbolicConditional Frank Dellaert 2009-11-18 17:27:27 +0000
  • c7e76891da skeleton hardcoded version Frank Dellaert 2009-11-18 17:03:19 +0000
  • bed219c997 no printout Frank Dellaert 2009-11-18 16:32:45 +0000
  • 21974f95e1 test for incremental update Frank Dellaert 2009-11-18 16:31:19 +0000
  • bef2efacb7 fixed equals Frank Dellaert 2009-11-18 16:30:57 +0000
  • ceed2ae17d symbolic tree in testIncremental Frank Dellaert 2009-11-18 15:37:19 +0000
  • f56bf8c79f added missing include to satisfy stricter compiler; added isam test file Michael Kaess 2009-11-17 21:47:42 +0000
  • 4f7d31986c added cameraConstraint and corresponding unit test based on same 2 camera/4 landmark example, but now there are constraints on the two cameras and none of the landmarks. Chris Beall 2009-11-17 17:19:54 +0000
  • 0115b58bad added testSQP binary to ignore list Manohar Paluri 2009-11-17 01:20:33 +0000
  • e4eaae4605 Added equals function and serialization capability Manohar Paluri 2009-11-17 01:19:55 +0000
  • d24846d9a0 fixed errors due to shared pointer change in VSLAMFactor Manohar Paluri 2009-11-17 01:02:55 +0000
  • e312252006 Changed camera matrix to a shared pointer Manohar Paluri 2009-11-17 00:51:27 +0000
  • 256c094039 Added default constructor and Serialization Manohar Paluri 2009-11-16 23:49:04 +0000
  • 20830a1534 Added testSQP demo to show a simple problem solved by Sequential Quadratic Programming. To see the outputs, set verbose=true at the start of the test. Alex Cunningham 2009-11-16 19:12:56 +0000
  • e549dd5305 Added USAGE file with a short tutorial Fixed typo in README Alex Cunningham 2009-11-13 14:01:51 +0000
  • fc440f823b New make targets Frank Dellaert 2009-11-13 06:20:41 +0000
  • 27a47c6535 Constructor now takes Point2 Frank Dellaert 2009-11-13 06:19:21 +0000
  • d5ada2a80c Test now succeeds after adding 3 landmark constraints Also cleaned up a bit Frank Dellaert 2009-11-13 06:19:08 +0000
  • d26abf3ccf addLandmarkConstraint Frank Dellaert 2009-11-13 06:18:27 +0000
  • 309f2151cf Clean-up Frank Dellaert 2009-11-13 06:17:59 +0000
  • fe974a3e72 Rank test needs to be re-thought Frank Dellaert 2009-11-13 06:17:19 +0000
  • f5fc14c0f4 Fixed bug in revealing rank, even simpler than before. Frank Dellaert 2009-11-13 06:16:56 +0000
  • 7c045a0802 Fixed compile errors due to remaining VectorConfigs, and removed div0 warning Frank Dellaert 2009-11-13 06:15:48 +0000
  • 17aaae42d8 Refactoring of weightedPseudoInverse, emul, sum Frank Dellaert 2009-11-13 06:14:55 +0000
  • 2178589263 Debug printout and variable names Frank Dellaert 2009-11-13 06:13:58 +0000
  • 976b56fd44 Added a config folder to the main gtsam folder to avoid the issue of autogen not creating one on Linux systems. Alex Cunningham 2009-11-13 02:42:22 +0000