41c77ef421
remove column singletons in the factor graph
2010-04-03 03:36:10 +00:00
a647c84c16
added splitMinimumSpanningTree that uses DSF
2010-03-30 07:27:10 +00:00
1cba03a490
Always do BOOST_FOREACH with a reference if you can! In this case, made a noticeable difference in performance by avoiding hundreds of thousands of mallocs.
2010-03-11 21:40:56 +00:00
74f8102d29
Fixed warnings
2010-03-08 14:06:07 +00:00
67b4834bdb
someone forgot to return it
2010-02-27 00:04:51 +00:00
38ed1a5cdd
more compulsive checking, more efficient removing
2010-02-26 05:29:45 +00:00
51281ea78f
in-place colamd
2010-02-24 06:13:11 +00:00
4408eaf6f4
Added FactorGraph::checkGraphConsistency() to check for consistency between the variables->factors and factors->variables maps, and a unit test that tests the replace function including checking consistency.
2010-02-13 01:29:19 +00:00
fbef948254
Bug fix in replace()
2010-02-08 22:22:38 +00:00
5367e5a157
All std::map<Symbol,T> are now SymbolMap<T>, which is just a thin wrapper around std::map. at(Key) is used instead of first checking with find when an exception should be thrown for non-existent keys. This does not change any behavior or timing currently. This check-in also includes some functions in BayesTree for gathering clique statistics.
2010-01-22 04:41:40 +00:00
2507b6aaca
Cleaned up commented line after fix to use the colamd ordering.
2010-01-19 03:16:09 +00:00
0311d2a2a2
Very very small change :-)
2010-01-19 02:57:08 +00:00
05b07d443e
add linear system solver as a template class parameter in nonlinear optimizer.
2010-01-18 05:51:19 +00:00
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>
2010-01-17 19:34:57 +00:00
a956c1a8be
svn restored from 1733.
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this commit updates gtsam to version 1774, which now appears as 1734.
2010-01-16 01:16:59 +00:00
53a03a0021
Changed signature of tree insert
2010-01-14 16:05:04 +00:00
1519d029dc
use PredecessorMap instead of map<Key,Key>
2010-01-14 05:24:20 +00:00
68d90772e6
ordering is fixed
2010-01-14 03:21:07 +00:00
63440f937f
almost fixed oredering except one function call
2010-01-14 02:07:14 +00:00
3c66861790
fix the graph related functions in FactorGraph as well as its unit tests
2010-01-13 23:59:46 +00:00
93465945e9
Large gtsam refactoring
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To support faster development *and* better performance Richard and I pushed through a large refactoring of NonlinearFactors.
The following are the biggest changes:
1) NonLinearFactor1 and NonLinearFactor2 are now templated on Config, Key type, and X type, where X is the argument to the measurement function.
2) The measurement itself is no longer kept in the nonlinear factor. Instead, a derived class (see testVSLAMFactor, testNonlinearEquality, testPose3Factor etc...) has to implement a function to compute the errors, "evaluateErrors". Instead of (h(x)-z), it needs to return (z-h(x)), so Ax-b is an approximation of the error. IMPORTANT: evaluateErrors needs - if asked - *combine* the calculation of the function value h(x) and the derivatives dh(x)/dx. This was a major performance issue. To do this, boost::optional<Matrix&> arguments are provided, and tin EvaluateErrors you just says something like
if (H) *H = Matrix_(3,6,....);
3) We are no longer using int or strings for nonlinear factors. Instead, the preferred key type is now Symbol, defined in Key.h. This is both fast and cool: you can construct it from an int, and cast it to a strong. It also does type checking: a Symbol<Pose3,'x'> will not match a Symbol<Pose2,'x'>
4) minor: take a look at LieConfig.h: it help you avoid writing a lot of code bu automatically creating configs for a certain type. See e.g. Pose3Config.h. A "double" LieConfig is on the way - Thanks Richard and Manohar !
2010-01-13 22:25:03 +00:00
4369cd2d92
1) add a compose function that compose all the poses in a factor graph given the spanning tree
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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
2010-01-12 16:12:25 +00:00
6a7987fa91
fix Pose2Prior problem and adding prior factor when splitting factor graph
2010-01-09 23:39:11 +00:00
d4f92c7bb6
pass FactorGraph as reference into split
2010-01-08 20:27:10 +00:00
06b7f8ee04
add split to FactorGraph
2010-01-08 19:07:46 +00:00
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.
2010-01-08 00:40:17 +00:00
6298a45050
use prim algorithm instead of kruskal for finding MST, which yields the parent map.
2010-01-07 06:25:54 +00:00
9845a5ae37
add findMinimumSpanningTree to FactorGraph
2010-01-06 11:15:37 +00:00
d0b757da48
remove method to set factor to NULL
2009-12-20 21:21:01 +00:00
ff817551de
Added FactorGraph::replace(index, factor) to replace one factor with another (used in FrameSLAM).
2009-12-18 00:13:38 +00:00
8a9f05059c
implement getOrdering_ to work in matlab
2009-12-11 22:53:48 +00:00
715dc4474d
functional STL magic
2009-11-20 14:18:26 +00:00
b2eee54b5a
push_back an entire factor graph
2009-11-19 06:34:07 +00:00
f56bf8c79f
added missing include to satisfy stricter compiler; added isam test file
2009-11-17 21:47:42 +00:00
f677341108
Moved inference methods to new compilation unit. Added [factor], and [marginalize] now returns a factor graph.
2009-11-12 04:56:30 +00:00
8d2d48d252
made removeAndCombineFactors a function, not a method
2009-11-11 05:12:45 +00:00
a3de1964d7
BIG CHANGE:
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1) eliminate methods no longer return a shared pointer. Shared pointers are good for Factors and Conditionals (which are also non-copyable), because these are often passed around under the hood. However, a BayesNet is simple a list of shared pointers and hence does not cost a lot to return as an object (which is compiler-optimized anyway: there is no copy). So, the signature of all eliminate methods changed to simply return a BayesNet<> object (not a shared pointer).
2) GaussianBayesNet::optimize is now replaced by optimize(GaussianBayesNet) and returns a VectorConfig and not a shared pointer
3) GaussianBayesNet and SymbolicBayesNet are now simply typedefs, not derived classes. This is desirable because the BayesTree class uses templated methods that return BayesNet<Conditional>, not a specific BayesNet derived class.
2009-11-09 07:04:26 +00:00
532be063f9
new templated function combine
2009-11-08 02:50:19 +00:00
cc5a2c3183
Renamed double-templated functions to _eliminate and _eliminateOne, and created FactorGraph-specific eliminateOne methods to make life easier
2009-11-07 21:03:30 +00:00
df3e5f2416
BIG: eliminate and eliminateOne now doubly templated functions, not methods.
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Minor: Standardized on new shared_ptr naming convention:
shared_factor -> sharedFactor
conditional_ptr -> sharedConditional
node_ptr -> sharedClique
2009-11-07 19:31:39 +00:00
7f516394df
Added dummy argument to work around compile conundrum
2009-11-05 06:30:10 +00:00
3d334401f5
Constructor from BayesNet now in FactorGraph base class
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FactorGraph::eliminate
Removed eliminate_partially
2009-11-05 04:56:59 +00:00
e2414561be
Merged r895:900 from branch weightedQR - LinearFactorGraph now has sigmas and ConditionalGaussian now has precisions
2009-11-04 20:59:16 +00:00
80b162a412
LinearFactorGraph::eliminate_one is now FactorGraph::eliminateOne<ConditionalGaussian>
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Symbolic version FactorGraph::eliminateOne<SymbolicConditional> also implemented and tested
2009-10-29 14:34:34 +00:00
a513ae0287
Changed names and moved two LinearFactorGraph functions to FactorGraph
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Added SymbolicFactorGraph compiulation unit and unit tests
Added symbolic combine constructor
2009-10-29 05:39:13 +00:00
f0c23a2828
Moved [factors] to FactorGraph
2009-10-29 04:49:13 +00:00
b6cee73571
Significant change: Made FactorGraph templated on Factor only, and moved error and probPrime to derived classes
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Moved find_and_remove_factors to base class
Added and tested symbolic factor graph constructor and conversion from any factor graph type
2009-10-29 04:11:23 +00:00
94da98411c
Fixed NULL problem
2009-10-27 20:22:02 +00:00
3b30fe50b0
Moved print and equals to -inl.h
2009-10-25 22:27:18 +00:00
52bedcad3a
order 1 factors by using map
2009-10-22 21:33:00 +00:00
Kai Ni
Frank Dellaert
Richard Roberts
Chris Beall
Viorela Ila
Michael Kaess