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.
2009-10-08 13:43:43 +00:00
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.
2009-10-06 18:25:04 +00:00
34c1bb6f29
Small comment on exmap correctness
2009-10-06 18:02:33 +00:00
7e77ae5f53
formatting only, clear by default
2009-10-06 18:01:40 +00:00
354f9de64e
fixed round off error in Rot3.rodriguez
2009-09-16 02:20:57 +00:00
7fb691183d
make simulation2D work
2009-09-15 22:32:34 +00:00
53b4f8906b
make incremental optimization function return poses for unit test purpose
2009-09-14 06:40:53 +00:00
768befbd85
Faster inverse by avoiding matrix intermediate
2009-09-14 04:39:36 +00:00
d5dc9ab9d1
Composition is faster, composeTransform is trivial (and should probably go)
2009-09-14 04:38:17 +00:00
3285d88181
Added few utility functions required to check if Marker is facing the Camera
2009-09-13 20:07:00 +00:00
100b9b2eec
added a safe projection method to Calibrated and SimpleCamera. added a positiveDepth property to ARToolkitMeasurement so that the visibility can be checked
2009-09-13 16:09:54 +00:00
571c0da8d1
removed unit test for scalar operator overloading
2009-09-13 04:23:31 +00:00
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.
2009-09-13 04:13:03 +00:00
d141cdab8c
rolling back + operator overload for scalars ( Not approved by FD )
2009-09-13 03:43:15 +00:00
bc93a9c314
overloaded + operator for scalar
2009-09-12 21:52:13 +00:00
7b0c69da2d
getOrdering uses [keys] now
2009-09-12 04:15:41 +00:00
14102e259e
new method [keys]
2009-09-12 03:50:44 +00:00
78ac705d05
Isolated main colamd call in function templated on key type.
2009-09-12 03:38:55 +00:00
a5ae9c12ef
re-factored and commented getOrdering
2009-09-12 01:50:47 +00:00
597af891cb
add comments
2009-09-11 20:51:49 +00:00
bc7717d5ab
Forward declarations and comments
2009-09-11 20:51:03 +00:00
49e6e0c63f
Add operator /
2009-09-11 20:49:28 +00:00
b76a029ad8
Added principalPoint
2009-09-11 20:48:02 +00:00
0ac12dfcbf
changed config() to const
2009-09-11 18:33:05 +00:00
5e713551b3
get it run on the mac
2009-09-10 22:50:06 +00:00
65df85125d
Fixed NonlinearOptimizer to return a shared pointer to a config
2009-09-10 22:08:47 +00:00
5e1c719c17
the getConfig function is so dangerous and it should not exist...
2009-09-10 20:32:27 +00:00
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.
2009-09-09 04:43:04 +00:00
ff12101945
serialization
2009-09-07 04:19:03 +00:00
5ca7ab9053
equals
2009-09-07 03:35:32 +00:00
ff9a89c81b
unit tests in meter
2009-09-05 20:35:09 +00:00
482d7fe73f
exposed two internal functions
2009-09-04 14:59:17 +00:00
ba676a7a95
removed a printing thing
2009-09-03 18:11:26 +00:00
214637cee9
fixed rodriguez in Rot3
2009-09-03 17:43:02 +00:00
012437c573
keys now returns const references
2009-09-03 17:24:46 +00:00
2357e8aefc
There was a serious mistake in rodriguez, instead of R was returning R'
2009-09-03 17:08:52 +00:00
24c8242782
added print as virtual method
2009-09-03 16:51:31 +00:00
0c590c513e
enable debug options
2009-09-03 15:15:20 +00:00
5d41f5bdfa
Calibration load gone, now constructor takes path
2009-09-01 15:09:41 +00:00
f7bcb8dad7
add comments
2009-09-01 03:45:37 +00:00
07f940be57
add -g to unit tests
2009-09-01 03:32:11 +00:00
92dbc8910e
correct serialization of base classes
...
moved all serialize functions to bottom of class declaration
2009-08-31 04:13:57 +00:00
c69d8d9b36
Factor Graph serialization, and renaming of factors -> factors_
2009-08-31 02:40:26 +00:00
00fd3cebcf
changed const string to const string & in load
2009-08-30 21:49:48 +00:00
adabafa9f0
changed load function argument to const
2009-08-30 06:34:43 +00:00
34d80b6a2b
moved some implementations to cpp to avoid some weird conflict involving stack
2009-08-30 04:51:46 +00:00
6311dd0147
SimpleCamera::level now works
2009-08-29 07:39:20 +00:00
179b5c09ae
static members for creating "level" cameras as we find on idealized robots
2009-08-29 06:54:10 +00:00
5eb9a4d182
More efficient transform_to using unrotate
2009-08-29 04:10:52 +00:00
3432b6c50f
new Pose2 class
2009-08-29 01:24:26 +00:00
Alex Cunningham
Frank Dellaert
Kai Ni
Manohar Paluri
Alireza Fathi