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  • a513ae0287 Changed names and moved two LinearFactorGraph functions to FactorGraph Added SymbolicFactorGraph compiulation unit and unit tests Added symbolic combine constructor Frank Dellaert 2009-10-29 05:39:13 +0000
  • f0c23a2828 Moved [factors] to FactorGraph Frank Dellaert 2009-10-29 04:49:13 +0000
  • b6cee73571 Significant change: Made FactorGraph templated on Factor only, and moved error and probPrime to derived classes Moved find_and_remove_factors to base class Added and tested symbolic factor graph constructor and conversion from any factor graph type Frank Dellaert 2009-10-29 04:11:23 +0000
  • 1f792a53ea Made some progress on symbolic analysis Frank Dellaert 2009-10-28 02:57:38 +0000
  • 50763ef764 Prototype for Bayes nets for Manohar Frank Dellaert 2009-10-27 20:44:40 +0000
  • bb15697cf9 Prototype framework for Bayes chain (new name for Chordal Bayes net) and Bayes tree class hierarchy Frank Dellaert 2009-10-27 20:23:19 +0000
  • 94da98411c Fixed NULL problem Frank Dellaert 2009-10-27 20:22:02 +0000
  • e37e771c8e My last commit broke the linearFactorN unit test, fixed now. Richard Roberts 2009-10-27 15:31:45 +0000
  • cb22a0bc52 Renamed variables in linearFactorN unit test Richard Roberts 2009-10-27 15:13:13 +0000
  • 37bc303492 Added weighted Householder transforms that use precisions perform QDR factorization. Functions create a weighted vector pseudoinverse, and then use the pseudoinverse to substitute a solution into system. Alex Cunningham 2009-10-27 14:21:22 +0000
  • 626d06905c Removed obsolete optimize call and documented better Frank Dellaert 2009-10-27 14:14:36 +0000
  • 4d9ff77249 moved timing example here from EasySLAM Frank Dellaert 2009-10-27 13:34:36 +0000
  • 422169873c moved [symbol] function to LinearFactor Frank Dellaert 2009-10-27 13:33:44 +0000
  • 11f0d04cb6 made all classes that currently have an assert_equal "Testable" - derive from testable as in class Point2 : Testable<Point2> - moved print and equal declarations in .h right after the constructor - similarly, moved implementations after constructors in .cpp file - removed obsolete assert_equal Brian Law 2009-10-26 19:26:51 +0000
  • 3b30fe50b0 Moved print and equals to -inl.h Frank Dellaert 2009-10-25 22:27:18 +0000
  • 7a968962db Order of arguments = expected, then actual Frank Dellaert 2009-10-25 22:26:56 +0000
  • 57bc102548 Equals now checks for NULLs Frank Dellaert 2009-10-25 14:25:17 +0000
  • f54ba387fe FactorGraph, ChordalBayesNet, and ConditionalGaussian now Testable Frank Dellaert 2009-10-24 23:14:14 +0000
  • 3792c79706 Fixed NonlinearFactor2 equals and added some unit tests for equals Frank Dellaert 2009-10-24 20:01:47 +0000
  • 06a7898da2 add the execution time test Viorela Ila 2009-10-24 14:09:30 +0000
  • ebd6fb96d8 create a map and trajectory (not rand) Viorela Ila 2009-10-24 14:06:17 +0000
  • 563abc2b3f formatting only Frank Dellaert 2009-10-24 04:07:32 +0000
  • baef89ccf0 updated find_factors_and_remove to use map of factor indices to gather factors connected to a variable. factors are set to null instead of being erased. also updated size() to count non-NULL factors, and print() to only print non-NULL factors. added new unit test which tries to remove the same variable twice. Chris Beall 2009-10-23 00:56:40 +0000
  • 52bedcad3a order 1 factors by using map Chris Beall 2009-10-22 21:33:00 +0000
  • cd3e3d8a86 Fairly substantial change: Factor now Testable, MutableLinearFactor gone The latter was prompted by the fact that assert_equal did not like mixing LinearFactor and MutableLinearFactor But MutableLinearFactor always was a bit of a kluge. We should eradicate all non-const on LinearFactor some other way. Frank Dellaert 2009-10-22 17:23:24 +0000
  • 0d580032c5 Added unit test for creating an n-ary LinearFactor Richard Roberts 2009-10-22 15:52:39 +0000
  • 2aec16d3cf Combined evaluation/derivatives now return the function value instead of using a pointer Frank Dellaert 2009-10-22 14:44:27 +0000
  • 6c8531ed9c Point2 now Testable, removed obsolete assert_equal, as every testable class can use the template version in Testable.h Frank Dellaert 2009-10-22 14:43:36 +0000
  • 9a579fcdaf No need for Testable constructors Frank Dellaert 2009-10-22 14:42:19 +0000
  • e52c574e46 Added an empty virtual destructor to fix a compile warning Richard Roberts 2009-10-22 14:27:44 +0000
  • ae57441c3d Added a constructor to create an n-ary factor from an std::vector of key/A-matrix pairs Richard Roberts 2009-10-22 14:27:03 +0000
  • c3b8a20b5c Added new test for find_factors_and_remove and deleted obsolete one Frank Dellaert 2009-10-22 13:28:37 +0000
  • 1b199a4d3b Added a "factors" function that returns indices to all factors connected to a variable. Frank Dellaert 2009-10-22 05:02:31 +0000
  • 41c1d7a898 no more FGConfig Frank Dellaert 2009-10-22 05:00:24 +0000
  • 3e6739f2fd Now Matlab toolbox compiles!! Viorela Ila 2009-10-20 20:41:45 +0000
  • 019a05d93d mex: compile of ' "eliminate.cpp"' error fixed. but still not compiling Viorela Ila 2009-10-20 18:57:33 +0000
  • 543ad1409f Changing from set to vector: insert -> push_back Frank Dellaert 2009-10-20 15:22:06 +0000
  • 19bdb5c2f9 Better name for delta: linearizeAndOptimizeForDelta Frank Dellaert 2009-10-19 19:12:48 +0000
  • d8c04ecfcb Fixed serialization include header. Frank Dellaert 2009-10-18 17:35:15 +0000
  • ed616a26ed Finally gave in and made LinearFactorSet into a vector. Pragmatism wins. Frank Dellaert 2009-10-18 16:49:10 +0000
  • 82d541f6a3 Fixed wrapper problem This was because VectorConfig was parsed as Vector. Just changing the order of the parsers fixed this. Frank Dellaert 2009-10-17 04:29:14 +0000
  • 0d66ee8f72 comments only Frank Dellaert 2009-10-15 14:56:40 +0000
  • 485f8d003b Added notes concerning the ordering issue when handling sets of LinearFactor::shared_ptrs Alex Cunningham 2009-10-14 21:06:44 +0000
  • 7d0a30c20f Renamed FGConfig to VectorConfig in gtsam, easylib, EasySLAM, and mast. Alex Cunningham 2009-10-14 20:39:59 +0000
  • 8f20523e7f ConstrainedLinearFactorGraphs now handles multiple constraints on a node properly. smallExample was changed to include two of the examples used in testConstrainedLinearFactorGraph ConditionalGaussian was changed to make solve() virtual, as this is necessary for ConstrainedConditionalGaussian Alex Cunningham 2009-10-14 15:32:05 +0000
  • 92b920cb48 updated to be templated on Config. Chris Beall 2009-10-13 20:55:07 +0000
  • 66dac8a52f Generalized constraint handling to create a LinearConstraint which implements linear equality constraints that can be eliminated as a part of a ConstrainedLinearFactorGraph. DeltaFunction has been changed to be a ConstrainedConditionalGaussian, which has a more robust solve() function. The new tests no longer use the "constrained" example from smallExample, so those functions have been commented. ''Limitations: '' * Any given node can only have one constraint on it, but constraints can be of arbitrary size * Constraints can only be specified as a blockwise system, where each block must be square and invertible to support arbitrary elimination orderings. * ConstrainedNonlinearFactorGraph is disabled until a better solution for handling constraints in the nonlinear case is determined. Alex Cunningham 2009-10-08 13:57:22 +0000
  • 3efe95abee Removed ConstrainedChordalBayesNet and associated test. It may return if ConstrainedConditionalGaussians need more involved processing in future versions, but for all versions of LinearConstraint, there is no need for a special Constrained CBN. Alex Cunningham 2009-10-08 13:43:43 +0000
  • 989f290c99 '''BIG CHANGE''': avoid converting back and to FGConfigs by templating on configuration type. Details: * Factors are now templated on the configuration type. Factor Graphs are now templated on the factor type and configuration type. * LinearFactor is a factor on an FGConfig. * LinearFactorGraph uses LinearFactor and FGConfig. * NonLinearFactor is still templated on Config. * NonLinearFactorGraph uses NonLinearFactors, but is still templated on Config. * Tests and VSLAMFactor have been updated to reflect those changes. Frank Dellaert 2009-10-06 18:25:04 +0000
  • 34c1bb6f29 Small comment on exmap correctness Frank Dellaert 2009-10-06 18:02:33 +0000
  • 7e77ae5f53 formatting only, clear by default Frank Dellaert 2009-10-06 18:01:40 +0000
  • 354f9de64e fixed round off error in Rot3.rodriguez Kai Ni 2009-09-16 02:20:57 +0000
  • 7fb691183d make simulation2D work Kai Ni 2009-09-15 22:32:34 +0000
  • 53b4f8906b make incremental optimization function return poses for unit test purpose Kai Ni 2009-09-14 06:40:53 +0000
  • 768befbd85 Faster inverse by avoiding matrix intermediate Frank Dellaert 2009-09-14 04:39:36 +0000
  • d5dc9ab9d1 Composition is faster, composeTransform is trivial (and should probably go) Frank Dellaert 2009-09-14 04:38:17 +0000
  • 3285d88181 Added few utility functions required to check if Marker is facing the Camera Manohar Paluri 2009-09-13 20:07:00 +0000
  • 100b9b2eec added a safe projection method to Calibrated and SimpleCamera. added a positiveDepth property to ARToolkitMeasurement so that the visibility can be checked Kai Ni 2009-09-13 16:09:54 +0000
  • 571c0da8d1 removed unit test for scalar operator overloading Manohar Paluri 2009-09-13 04:23:31 +0000
  • 68e20eec2c 2 BIG changes: (1) FactorGraph and NonlinearOptimizer now no longer have a .cpp file, but a -inl.h file as in [http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml Google's C++ Style Guide]. This means if you expect to instantiate one of the functions in a cpp file, you have to include the -inl.h file. (1) getOrdering is now in FactorGraph, and the non-linear version does *not* take a config anymore. Long version: I made this change because colamd works on the graph structure alone, and should not depend on the type of graph. Instead, because getOrdering happened to implemented in LinearFactorGraph first, the non-linear version converted to a linear factor graph (at the cost of an unnecessary linearization), and then threw all that away to call colamd. To implement this in a key-neutral way (a hidden agenda), i had to modify the keys_ type to a list, so a lot of changes resulted from that. Frank Dellaert 2009-09-13 04:13:03 +0000
  • d141cdab8c rolling back + operator overload for scalars ( Not approved by FD ) Manohar Paluri 2009-09-13 03:43:15 +0000
  • bc93a9c314 overloaded + operator for scalar Manohar Paluri 2009-09-12 21:52:13 +0000
  • 7b0c69da2d getOrdering uses [keys] now Frank Dellaert 2009-09-12 04:15:41 +0000
  • 14102e259e new method [keys] Frank Dellaert 2009-09-12 03:50:44 +0000
  • 78ac705d05 Isolated main colamd call in function templated on key type. Frank Dellaert 2009-09-12 03:38:55 +0000
  • a5ae9c12ef re-factored and commented getOrdering Frank Dellaert 2009-09-12 01:50:47 +0000
  • 597af891cb add comments Kai Ni 2009-09-11 20:51:49 +0000
  • bc7717d5ab Forward declarations and comments Kai Ni 2009-09-11 20:51:03 +0000
  • 49e6e0c63f Add operator / Kai Ni 2009-09-11 20:49:28 +0000
  • b76a029ad8 Added principalPoint Kai Ni 2009-09-11 20:48:02 +0000
  • 0ac12dfcbf changed config() to const Manohar Paluri 2009-09-11 18:33:05 +0000
  • 5e713551b3 get it run on the mac Alireza Fathi 2009-09-10 22:50:06 +0000
  • 65df85125d Fixed NonlinearOptimizer to return a shared pointer to a config Alex Cunningham 2009-09-10 22:08:47 +0000
  • 5e1c719c17 the getConfig function is so dangerous and it should not exist... Alireza Fathi 2009-09-10 20:32:27 +0000
  • ead3d03866 BIG: replaced optimize in NonlinearFactorGraph with specialized NonlinearOptimizer object. This does away with the artificial ErrorVectorConfig and the like as NonlinearOptimizer is templated and can use "exmap", the exponential map defined for any differentiable manifold. Frank Dellaert 2009-09-09 04:43:04 +0000
  • ff12101945 serialization Frank Dellaert 2009-09-07 04:19:03 +0000
  • 5ca7ab9053 equals Frank Dellaert 2009-09-07 03:35:32 +0000
  • ff9a89c81b unit tests in meter Frank Dellaert 2009-09-05 20:35:09 +0000
  • 482d7fe73f exposed two internal functions Frank Dellaert 2009-09-04 14:59:17 +0000
  • ba676a7a95 removed a printing thing Alireza Fathi 2009-09-03 18:11:26 +0000
  • 214637cee9 fixed rodriguez in Rot3 Alireza Fathi 2009-09-03 17:43:02 +0000
  • 012437c573 keys now returns const references Frank Dellaert 2009-09-03 17:24:46 +0000
  • 2357e8aefc There was a serious mistake in rodriguez, instead of R was returning R' Alireza Fathi 2009-09-03 17:08:52 +0000
  • 24c8242782 added print as virtual method Frank Dellaert 2009-09-03 16:51:31 +0000
  • 0c590c513e enable debug options Kai Ni 2009-09-03 15:15:20 +0000
  • 5d41f5bdfa Calibration load gone, now constructor takes path Frank Dellaert 2009-09-01 15:09:41 +0000
  • f7bcb8dad7 add comments Kai Ni 2009-09-01 03:45:37 +0000
  • 07f940be57 add -g to unit tests Kai Ni 2009-09-01 03:32:11 +0000
  • 92dbc8910e correct serialization of base classes moved all serialize functions to bottom of class declaration Frank Dellaert 2009-08-31 04:13:57 +0000
  • c69d8d9b36 Factor Graph serialization, and renaming of factors -> factors_ Frank Dellaert 2009-08-31 02:40:26 +0000
  • 00fd3cebcf changed const string to const string & in load Manohar Paluri 2009-08-30 21:49:48 +0000
  • adabafa9f0 changed load function argument to const Manohar Paluri 2009-08-30 06:34:43 +0000
  • 34d80b6a2b moved some implementations to cpp to avoid some weird conflict involving stack Frank Dellaert 2009-08-30 04:51:46 +0000
  • 6311dd0147 SimpleCamera::level now works Frank Dellaert 2009-08-29 07:39:20 +0000
  • 179b5c09ae static members for creating "level" cameras as we find on idealized robots Frank Dellaert 2009-08-29 06:54:10 +0000
  • 5eb9a4d182 More efficient transform_to using unrotate Frank Dellaert 2009-08-29 04:10:52 +0000
  • 3432b6c50f new Pose2 class Frank Dellaert 2009-08-29 01:24:26 +0000
  • 6e23d61221 Formatting, and moved print to cpp. Frank Dellaert 2009-08-29 01:22:40 +0000
  • ea0e16caf5 Formatting only Frank Dellaert 2009-08-29 01:22:37 +0000
  • 8d54086f92 const begin and end Frank Dellaert 2009-08-28 20:06:29 +0000