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  • 35bbca7155 Switched make targets to use correct GaussianFactor/Graph Alex Cunningham 2009-11-13 02:22:50 +0000
  • 67c2ea8263 NonlinearEquality factor is now working for generic configs. Currently, the feasible point must be specified in the form of a full config with the point in it, but this avoid needing to increase the requirements on the configs. Alex Cunningham 2009-11-13 02:06:52 +0000
  • cba4a536bb includes Ordering.h Viorela Ila 2009-11-13 01:56:09 +0000
  • 8bc29cf11b new target Frank Dellaert 2009-11-12 23:42:38 +0000
  • 199f5935dd update Matlab scripts to work after changes in gtsam Viorela Ila 2009-11-12 20:42:01 +0000
  • b43304aff8 update Matlab scripts to work after changes in gtsam Viorela Ila 2009-11-12 20:41:05 +0000
  • 6252ff2497 added testVSLAMGraph unit test. will fail until we can add a constraint to either one of the two cameras. Chris Beall 2009-11-12 18:55:03 +0000
  • ef0fc9fbac added testVSLAMGraph unit test. will fail until we can add a constraint to either one of the two cameras. Chris Beall 2009-11-12 18:54:46 +0000
  • 03f865d4b1 Used typedefs with similar naming convention. Frank Dellaert 2009-11-12 18:33:14 +0000
  • 5857635ca1 Fixed renaming error with NonlinearFactors sometimes becoming NonGaussianFactors Alex Cunningham 2009-11-12 16:47:12 +0000
  • c7b86cec97 Renamed ConditionalGaussian -> GaussianConditional Alex Cunningham 2009-11-12 16:41:18 +0000
  • 40f8ba740d Fixed build target references to LinearFactor/Graph Alex Cunningham 2009-11-12 16:20:30 +0000
  • 77a1754b69 Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph Alex Cunningham 2009-11-12 16:16:32 +0000
  • 1ae6bb4030 Added push_fron convenience method to add ConditionalGaussians into a Bayes net with much less clutter. Modernized some very old tests in the process. Frank Dellaert 2009-11-12 06:09:03 +0000
  • f677341108 Moved inference methods to new compilation unit. Added [factor], and [marginalize] now returns a factor graph. Frank Dellaert 2009-11-12 04:56:30 +0000
  • c85f5445db Re-organized makefile Frank Dellaert 2009-11-12 04:54:31 +0000
  • 81a353dd2c eliminate is now const Frank Dellaert 2009-11-12 04:53:28 +0000
  • a38ebece1e New compilation unit that collects generic, templated inference methods that go between factor graphs and Bayes nets. These used to be in BayesNet-inl.h and FactorGraph-inl.h Frank Dellaert 2009-11-12 04:52:40 +0000
  • 4a7e05fffa change all print() to print(string s) and create SymbolicFactor Viorela Ila 2009-11-11 22:45:08 +0000
  • 70efccefbc VSLAMFactor Testable Chris Beall 2009-11-11 21:09:43 +0000
  • 8c695a778c Implemented a rank deficient constraint test in testLinearFactor: note that it is possible to reorder elimination to make a system solvable or rank-deficient Alex Cunningham 2009-11-11 19:00:39 +0000
  • ab65dfb4dd Adding include file stdio.h to resolve compiling issue when upgrading to Ubuntu 9.10. The printf() compiles on ubuntu 9.04 and mac machines. Eohan George 2009-11-11 17:15:17 +0000
  • f51614813e Improved weighted eliminate to handle arbitrary linear equality constraints Alex Cunningham 2009-11-11 14:42:09 +0000
  • 2d4524374b eliminate -> eliminate_ Chris Beall 2009-11-11 12:43:19 +0000
  • d585a329dc Added MATLAB-friendly versions of eliminate and optimize in LinearFactorGraph (with trailing underscore). Also fixed some MATLAB code. Frank Dellaert 2009-11-11 07:14:13 +0000
  • ac840d6f0a 1) DCVectorConfig I believe was obsolete as well as any conversion from and to Vectors, which I removed 2) load and flush are gone. 3) I made a VSLAMConfig "Testable". 4) I added an explicit template instantiation to avoid having to include -inl.h files 5) I added some more test code in testVSLAMFactor Frank Dellaert 2009-11-11 05:14:03 +0000
  • 00ff066b33 Fixed compile error Frank Dellaert 2009-11-11 05:13:25 +0000
  • 8d2d48d252 made removeAndCombineFactors a function, not a method Frank Dellaert 2009-11-11 05:12:45 +0000
  • 710d396d0b cleaned up a few includes to make VSLAMGraph work properly after the move into gtsam. Chris Beall 2009-11-10 22:49:22 +0000
  • dc3b85e43d Todo: make wrapper for GaussianBayesNet. For now eliminate returns void in gtsam.h Chris Beall 2009-11-10 21:15:28 +0000
  • 08c9718b12 Moving VSLAMConfig into gtsam. VSLAMFactor lived there already, but was using VectorConfig directly... now using VSLAMConfig. Chris Beall 2009-11-10 20:19:00 +0000
  • 9c8994725d matlab script to test timing (average over X runs) Viorela Ila 2009-11-10 18:55:29 +0000
  • 0d928035e0 added empty constructors for serialization, also made sure SymbolicConditional.h was installed Manohar Paluri 2009-11-10 14:55:07 +0000
  • 1f15650da0 Added serialization of base class Manohar Paluri 2009-11-10 14:44:53 +0000
  • ddc0173671 Basic handling of constraints now works in factor graphs, assuming there is only one constraint on any given variable. Alex Cunningham 2009-11-10 04:36:07 +0000
  • a7b711db37 Removed constraint variations on graphs/factors Alex Cunningham 2009-11-10 04:33:39 +0000
  • 2c37c94b5d Replaced the householder transform with the weighted system Removed constrained components from makefile, they will disappear shortly Alex Cunningham 2009-11-09 21:34:20 +0000
  • 03985d16f6 Fixed equality checking with NaNs in Matrix removed extraneous print statement in Vector Alex Cunningham 2009-11-09 16:57:30 +0000
  • 01ee9246d7 fix Matlab toolbox to work with Frank's recent changes to gtsam. Chris Beall 2009-11-09 16:53:13 +0000
  • 1ae81b59d8 Fixed vector comparisons that will erroneously return true when there are NaN values. Alex Cunningham 2009-11-09 16:47:37 +0000
  • a3de1964d7 BIG CHANGE: Frank Dellaert 2009-11-09 07:04:26 +0000
  • 7bd40e836d Cleaned up and added test for VSLAMFactor Frank Dellaert 2009-11-09 04:46:34 +0000
  • e340178de5 Easy constructor Frank Dellaert 2009-11-09 04:46:08 +0000
  • dd1b023ca9 Fixed special case for root Frank Dellaert 2009-11-09 04:45:38 +0000
  • cc22e82ca6 Joint densities (covariances) now done. Was exceedingly easy :-) Frank Dellaert 2009-11-09 00:13:44 +0000
  • 3464c6a36f Create from a single string Frank Dellaert 2009-11-08 22:51:29 +0000
  • 86173b66af Clique marginal and dramatically simplified single variable marginal. Frank Dellaert 2009-11-08 22:51:12 +0000
  • 10e618f360 New function marginals. Also: combine entire Bayes nets with push_back and push_front. And finally: some convenience constructors in GaussianBayesNet. Frank Dellaert 2009-11-08 22:50:26 +0000
  • 58007a8167 Working recursive (but not cached) shortcut. Frank Dellaert 2009-11-08 04:41:01 +0000
  • d1b8925617 Construct symbolic version of any Bayes net Frank Dellaert 2009-11-08 04:39:54 +0000
  • 532be063f9 new templated function combine Frank Dellaert 2009-11-08 02:50:19 +0000
  • 93da9e0f2c pop_front Frank Dellaert 2009-11-08 02:49:18 +0000
  • cc5a2c3183 Renamed double-templated functions to _eliminate and _eliminateOne, and created FactorGraph-specific eliminateOne methods to make life easier Frank Dellaert 2009-11-07 21:03:30 +0000
  • df3e5f2416 BIG: eliminate and eliminateOne now doubly templated functions, not methods. Minor: Standardized on new shared_ptr naming convention: shared_factor -> sharedFactor conditional_ptr -> sharedConditional node_ptr -> sharedClique Frank Dellaert 2009-11-07 19:31:39 +0000
  • f5d186522e Standardized on new shared_ptr naming convention Frank Dellaert 2009-11-07 17:24:05 +0000
  • 6339b5d19d Made Node public Frank Dellaert 2009-11-07 15:58:45 +0000
  • 7ef9ed950b Improved performance of matrix scaling in LinearFactor::matrix_augmented Added matrix scaling functions to scale either the rows or columns by values from a vector Alex Cunningham 2009-11-06 13:43:39 +0000
  • cd313e2f82 operator[] to retrieve clique Frank Dellaert 2009-11-06 05:55:29 +0000
  • e1716a39cd Two changes: LinearFactor::sparse and LinearFactorGraph:sparse, and renamed VariableSet -> Dimensions, which is now a map from keys to integer variable dimensions. Merged in from the "sparse" branch created with Viorela. Frank Dellaert 2009-11-06 05:43:03 +0000
  • fb74ef03b2 Added to LinearFactor a matrix_augmented() function to get a single augmented matrix [A b] Removed extra copying in LinearFactor::eliminate() Alex Cunningham 2009-11-05 15:08:58 +0000
  • 6c5603de0c Fixed remaining LinearFactor unit tests Added equality check for Variable Alex Cunningham 2009-11-05 13:52:12 +0000
  • d9289d14b3 marginals on any scalar now work Frank Dellaert 2009-11-05 08:06:32 +0000
  • beabb62f29 More informative print Frank Dellaert 2009-11-05 08:05:54 +0000
  • bd54c39a73 Fixed bug in smoother example Frank Dellaert 2009-11-05 08:05:34 +0000
  • e87c19ed7a ConditionalGaussian now stores sigmas Frank Dellaert 2009-11-05 06:59:59 +0000
  • 88b8f4e16b fixed unit test Frank Dellaert 2009-11-05 06:34:43 +0000
  • cabcda5a96 marginal compiles and runs for frontal node in clique Frank Dellaert 2009-11-05 06:30:50 +0000
  • 7f516394df Added dummy argument to work around compile conundrum Frank Dellaert 2009-11-05 06:30:10 +0000
  • 06f07420d1 back() Frank Dellaert 2009-11-05 06:29:32 +0000
  • 11fcd5a69d KISS: just a map of pointers in BayesTree now Frank Dellaert 2009-11-05 05:29:47 +0000
  • 3d334401f5 Constructor from BayesNet now in FactorGraph base class FactorGraph::eliminate Removed eliminate_partially Frank Dellaert 2009-11-05 04:56:59 +0000
  • e650676da7 Moved header to .h to fix MATLAB toolbox compilation Frank Dellaert 2009-11-05 03:51:08 +0000
  • 3b258be8c4 about a dozen changes to make Matlab toolbox work again, but one error remains having to do with the forward declaration of class GaussianBayesNet. Chris Beall 2009-11-05 03:26:04 +0000
  • 0ef7fe4a01 changed case of foreach ( it was capitals before and will not compile on linux ) Manohar Paluri 2009-11-04 22:19:16 +0000
  • e2414561be Merged r895:900 from branch weightedQR - LinearFactorGraph now has sigmas and ConditionalGaussian now has precisions Richard Roberts 2009-11-04 20:59:16 +0000
  • 4865edb883 Removed debug code, added marginal function Frank Dellaert 2009-11-04 03:22:29 +0000
  • ec6611ae56 create temporal ordering Viorela Ila 2009-11-03 16:20:44 +0000
  • d8b7bf565f delete tmp Viorela Ila 2009-11-03 16:20:01 +0000
  • b67d2ae5f7 create a temporal order Viorela Ila 2009-11-03 16:18:01 +0000
  • e9d942f81e BayesNet is now list-based for fast bi-directional access SLOW O(n) random access operator[key] provided (should maybe be called [at] as it does bounds checking) I also fixed a bug in equals. Frank Dellaert 2009-11-03 06:29:56 +0000
  • eab038651e Renamed BayesNet::insert -> push_back. BayesTree now uses Bayes nets as nodes. Frank Dellaert 2009-11-02 05:17:44 +0000
  • a8d267c4ca Small change necessitating lots of edits: Conditionals now include key of random variable This simplifies Bayes nets quite a bit. Also created a Conditional base class, derived classes ConditionalGaussian and SymbolicConditional Finally, some changes were needed because I moved some headers to .cpp Frank Dellaert 2009-11-02 03:50:30 +0000
  • 943b692a6b BIG CHANGE: I got rid of the BayesChain/ChordalBayesNet classes and we now simply have a BayesNet class. It will just happen to be chordal when it is the result of an elimination. This will simplify a lot of things. Frank Dellaert 2009-10-31 19:53:20 +0000
  • 921cb0a8fc Got rid of (defunct) "dump" methods Frank Dellaert 2009-10-31 17:13:36 +0000
  • c046fed37c Bayes tree constructor implemented and tested with ASIA, as well as smoother example from frankcvs meeting Frank Dellaert 2009-10-31 16:57:36 +0000
  • 1e5a2d692a const Frank Dellaert 2009-10-31 16:56:06 +0000
  • 040f407b0b Removed constructor, use eliminate Frank Dellaert 2009-10-31 16:55:44 +0000
  • 0f688302ad Fixed bug in [parents] Frank Dellaert 2009-10-31 16:55:17 +0000
  • 68d2f81f0a Smoother now creates x1...xT, not x0 anymore Frank Dellaert 2009-10-31 16:54:38 +0000
  • fd5f43092f Ordering is now a list and Testable Frank Dellaert 2009-10-31 15:24:22 +0000
  • e1f14b34c3 Implemented [equals] using binary predicate and STL's equal Frank Dellaert 2009-10-31 14:12:41 +0000
  • b9ceca7dc6 Templated binary predicate [equals] for use with STL's equal(...) Frank Dellaert 2009-10-31 14:11:48 +0000
  • 53890c4ba6 Symbolic Bayes Tree successfully constructed Frank Dellaert 2009-10-31 05:12:39 +0000
  • cefeca149b Moved template definitions to BayesTree-inl.h Frank Dellaert 2009-10-30 13:03:38 +0000
  • 0d7d0e2161 Explicit template instantiation in .cpp files, so we can link with the code without having to include -inl.h everywhere... Frank Dellaert 2009-10-30 05:45:22 +0000
  • 83e5286710 ChordalBayesNet is now derived from BayesChain Explicit template instantiations Frank Dellaert 2009-10-30 04:54:11 +0000
  • dd3795ad5a Symbolic eliminate now works, new compilation unit SymbolicFactor Frank Dellaert 2009-10-30 03:48:32 +0000
  • 65b949c008 Fixed flaw in pseudoinverse calculation, and updated tests for Matrix and Vector Alex Cunningham 2009-10-29 20:12:07 +0000
  • 80b162a412 LinearFactorGraph::eliminate_one is now FactorGraph::eliminateOne<ConditionalGaussian> Symbolic version FactorGraph::eliminateOne<SymbolicConditional> also implemented and tested Frank Dellaert 2009-10-29 14:34:34 +0000
  • 4c48bb08e1 Vector and Matrix updated with improved weighted householder operations and more tests. Alex Cunningham 2009-10-29 12:52:27 +0000