6073bdb679
made the function const
2010-03-01 18:05:24 +00:00
a46dc4cea0
Added threshold for lambda in NonlinearOptimizer so that if lambda has gotten unreasonably large, optimization will throw a runtime exception to prevent infinite loops where lambda goes to infinity.
2010-03-01 16:31:05 +00:00
d9c185498e
combined a few arithmetic tests
2010-03-01 01:38:26 +00:00
4cb59438f7
documentation
2010-03-01 01:37:50 +00:00
619190a818
new-style combined unrotate
2010-03-01 01:36:27 +00:00
20ad08e48f
new Pose3 derivatives still don't work :-(
2010-03-01 01:35:33 +00:00
b943644ddd
re-factored so corresponds to math.lyx
2010-03-01 01:33:45 +00:00
6e03783465
negation
2010-03-01 01:30:15 +00:00
28f4493a2b
Now uses Adjoint map for derivatives of inverse/compose/between, see doc/math.pdf
2010-02-28 09:10:39 +00:00
98aa08bcd0
Re-use memory
2010-02-28 09:09:37 +00:00
85784400c6
prototype object map
2010-02-28 09:09:12 +00:00
dcfe52dae7
some renaming of variables
2010-02-28 09:08:47 +00:00
b58f7b8ea7
the derivative for transform_from
2010-02-28 08:51:43 +00:00
d894e23a06
assert_equal for a list of matrices
2010-02-28 00:48:42 +00:00
4604cbce05
svd now handles m < n cases. Added unit tests to verify this. But svd in place will throw an exception for such cases.
2010-02-27 18:23:34 +00:00
5e00c58ea7
Baker–Campbell–Hausdorff formula: in non-commutative Lie groups, when composing exp(Z) = exp(X)exp(Y) it is not true that Z = X+Y. Instead, Z can be calculated using the BCH formula:
...
Z = X + Y + [X,Y]/2 + [X-Y,[X,Y]]/12 - [Y,[X,[X,Y]]]/24 + ...
See http://en.wikipedia.org/wiki/Baker–Campbell–Hausdorff_formula
2010-02-27 14:58:54 +00:00
67b4834bdb
someone forgot to return it
2010-02-27 00:04:51 +00:00
b6599ebdce
readst the tree files
2010-02-26 22:23:00 +00:00
9941b28128
Fix matrix inverse square root so it, once again, returns an upper triangular matrix
2010-02-26 18:53:41 +00:00
940202226b
added #pragma
2010-02-26 14:45:17 +00:00
d21ff82d21
Kruskal skeleton
2010-02-26 13:31:38 +00:00
87c8465315
the beautiful Jacobian of compose in pose2
2010-02-26 10:55:41 +00:00
c40760485d
I think we might have a problem: is expmap<Pose2> correct? Uncomment the new test in testPose2. It does not match what is said in http://www.cis.upenn.edu/~cis610/cis610lie1.ps .
2010-02-26 06:00:58 +00:00
0004d90feb
formatting only
2010-02-26 05:30:02 +00:00
38ed1a5cdd
more compulsive checking, more efficient removing
2010-02-26 05:29:45 +00:00
73848d9e0e
added comments to make people realize it is for the matlab wrapper not actually c++ implementation
2010-02-26 05:05:05 +00:00
7e8aa6e6b9
add unit test for the constructor
2010-02-26 05:04:03 +00:00
5e97d07f5e
*it is already the right type
2010-02-26 04:03:56 +00:00
0a33b50554
use Matrix.resize
2010-02-26 04:03:31 +00:00
17bd59ec80
only call alpha calls if CBLAS version will be called.
2010-02-26 03:23:48 +00:00
044ea1348d
Modernized/refactored, esp. with regards to map insert and iterating.
2010-02-26 03:20:15 +00:00
9d704bb977
Added flag to default Factorization for old or new elimination, defaulting to old code.
2010-02-25 21:07:35 +00:00
5b60511505
Reverted default elimination code to older implementation - use switch in optimize() or eliminate() to use newer code.
2010-02-25 20:43:59 +00:00
c56ee9ea0d
added a new constructor that takes a list
2010-02-25 08:16:33 +00:00
74787df3fc
Added ability to insert whole configs at a time to LieConfig and TupleConfig
2010-02-25 02:50:01 +00:00
93a3f48920
Created patch to camera homography function with Duy
2010-02-25 00:05:27 +00:00
9955ea20bd
Added pure cblas implementation of multiplyAdd functions. This does not have autotools support yet, so to enable, goto cpp/Makefile.am, comment out the block concerning GSL/ATLAS, and uncomment the above section enabling just blas.
2010-02-24 18:12:48 +00:00
f8c4e1fe27
Fixed bug in unit test causing crashes, altered corner case test for column insertion
2010-02-24 18:09:15 +00:00
022f706d94
Changed default elimination algorithm to newer one with fewer matrix allocations to solve crashing bug from LM discovered in MAST
2010-02-24 14:19:52 +00:00
04f7bbf253
use vector_scale_inplace
2010-02-24 06:15:06 +00:00
696be0d0c1
RETURN CONST REFERENCES WHERE YOU CAN and some inlining
2010-02-24 06:14:43 +00:00
dd9446993a
5-fold performance improvement in combined between function
2010-02-24 06:14:02 +00:00
51281ea78f
in-place colamd
2010-02-24 06:13:11 +00:00
71089a6354
vector_scale_inplace
2010-02-24 06:12:56 +00:00
c1f50a0637
fixed noise model, removed istringstream and getline in favor of ignore
2010-02-24 06:11:52 +00:00
547427514f
add save functions for Matrix and Vector to save them to disk
2010-02-24 00:12:10 +00:00
ac41ee7215
Added a test in GaussianFactor to demo a problem found in MAST where eliminating a single factor with two priors causes a memory corruption error. To run the test and see the error, go to the last test in testGaussianFactor called "exploding_MAST_factor" and uncomment the indicated line.
2010-02-23 18:41:07 +00:00
a2310b4eab
Fixed small error in NonlinearConstraint and added note explaining why nonlinear constraints do not use a constrained noisemodel in the nonlinear sense.
2010-02-23 18:37:17 +00:00
032c8887d6
added point-point-point check
2010-02-23 13:14:07 +00:00
5594d162a2
allocate noise model once
2010-02-23 05:28:39 +00:00
3ae81002be
fixed the unit tests
2010-02-23 05:23:15 +00:00
8900a37d93
removed unncessary prints
2010-02-23 05:08:42 +00:00
a178023a27
Fixed christian01 example, polluting gtsam with extra header files for MATLAB. Need to look for a better solution.
2010-02-23 05:06:16 +00:00
443d304a7c
Added another TrifocalTensor estimation test
2010-02-22 21:45:15 +00:00
fbbdd0be3e
Fixed error calculation with NonlinearConstraints - now use Unit noisemodels in NonlinearConstraint to prevent having the error forced to infinity
2010-02-22 21:11:22 +00:00
ee9205f0fa
uncommented unit tests
2010-02-22 16:43:40 +00:00
65cbff6af6
added unit tests
2010-02-22 06:42:58 +00:00
6ea8a22958
Fixed two unit tests in MATLAB, needed some small changes in C++ as well
2010-02-21 23:50:28 +00:00
694f6e4219
linearize now always returns a shared pointer
2010-02-21 21:17:47 +00:00
517c82f62f
Small details, like using a reference in FOREACH
2010-02-21 17:06:11 +00:00
fe4471930f
avoid keys() call to known set of keys
2010-02-21 15:24:05 +00:00
190ec53a63
use ifdef
2010-02-21 15:23:27 +00:00
7f1c3f9952
fixed a bug
2010-02-21 04:51:42 +00:00
274265a401
Errors:axpy and testErrors
2010-02-21 00:01:43 +00:00
5b6af9e4bd
1.0 versions of BLAS level 2
2010-02-20 23:44:07 +00:00
ac316f2d56
formatting only
2010-02-20 23:43:41 +00:00
75b35949c9
Fixed several unit test main() functions that were returning 0 instead of the result of runAllTests. This caused unit tests to print failures but not count as failures in the pass/fail counts. In CMake projects, since test output is logged to a file instead of printed, this caused no indication of failures when they occured! All tests still pass with no other modifications after fixing this.
2010-02-20 22:22:45 +00:00
1949a992cd
define two additional types
2010-02-20 00:28:10 +00:00
689b9fefc0
throw exceptions instead of crashing
2010-02-19 22:44:45 +00:00
d0ce5d36da
created addPrior
2010-02-19 02:48:47 +00:00
e60d903210
removed extra quotes
2010-02-18 23:31:23 +00:00
2bf4c0ce5b
Fixed two bugs, both related to array overflow
2010-02-18 22:52:49 +00:00
c26219e3d4
Added Pose2::matrix() function.
2010-02-18 16:27:01 +00:00
cd5c281c76
Added get and set
2010-02-18 14:30:16 +00:00
ede0a8c874
Added unit test
2010-02-18 14:29:40 +00:00
3247751b5d
Major check-in: there are now two interchangeable implementations of VectorConfig.
...
VectorMap uses a straightforward stl::map of Vectors. It has O(log n)
insert and access, and is fairly fast at both. However, it has high overhead
for arithmetic operations such as +, scale, axpy etc...
VectorBTree uses a functional BTree as a way to access SubVectors
in an ordinary Vector. Inserting is O(n) and much slower, but accessing,
is O(log n) and might be a bit slower than VectorMap. Arithmetic operations
are blindingly fast, however. The cost is it is not as KISS as VectorMap.
Access to vectors is now exclusively via operator[]
Vector access in VectorMap is via a Vector reference
Vector access in VectorBtree is via the SubVector type (see Vector.h)
Feb 16 2010: FD: I made VectorMap the default, because I decided to try
and speed up conjugate gradients by using Sparse FactorGraphs all the way.
2010-02-17 03:29:12 +00:00
cb5d4c3127
instantiate SymbolicConfig
2010-02-16 23:20:39 +00:00
d895cb90dc
Added a static dim function to Point3 for generic detection of dimension
2010-02-16 20:21:03 +00:00
529fc5536b
Fixed templating problem with visualSLAM::ProjectionFactor
2010-02-16 02:09:07 +00:00
30893b33eb
some small details to work it work with NewVectorConfig
2010-02-15 23:54:10 +00:00
5d33eb185c
added SubVector type and some related routines
2010-02-15 23:53:16 +00:00
e4691a1594
BTree refactored, Node is now an inner class, find is non-recursive
2010-02-15 23:52:46 +00:00
39708194a3
added TrifocalTensor test and changed DLT to use non-sorted version.
2010-02-15 23:45:53 +00:00
341c4d9250
Deleted debug print
2010-02-15 21:38:33 +00:00
8691d633a7
added testTensors to the tests
2010-02-15 20:25:38 +00:00
17706d4ebd
Added key template parameters to visualSLAM::projectionFactor without changing the interface. Added dimension checking function for Point2 type.
2010-02-15 16:37:37 +00:00
6f0d23cdaf
forgot to change comments in previous checkin
2010-02-14 07:26:53 +00:00
1cc5bf748b
make file changes and added make targets to the cproject
2010-02-14 07:26:10 +00:00
c16e6fc0d5
Moved Tensor related Files from CitySLAM
2010-02-14 07:25:03 +00:00
1923778750
Moved Tensor related Files from CitySLAM
2010-02-14 07:24:37 +00:00
44094b494e
fixed maxIteration bug
2010-02-14 07:14:42 +00:00
1f165a9f85
Made CG state a class
2010-02-14 05:52:20 +00:00
43f9baf77a
added test to check singular value ordering for a sample homography case
2010-02-14 04:56:29 +00:00
693e13ef88
added default bool option to svd to sort the singular values and V. the default is true so pass false to avoid sorting
2010-02-14 04:54:39 +00:00
f9c2000847
save graph to graphviz format
2010-02-13 07:09:56 +00:00
d0a93ad9dd
insert bayes net as a clique
2010-02-13 07:09:27 +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
f1988513fe
Fixed bug in print function of TypedLabeledSymbol
2010-02-10 21:03:49 +00:00
dde0626e5c
Added a constructor for TypedLabeledSymbol from Symbol that decodes the index to split out a label
2010-02-10 15:27:21 +00:00
d0aed559b5
TypedLabeledSymbols now convert properly to Symbols, so they can be used to add a runtime label to a TypedKey to express "Pose 1 of robot A"
2010-02-10 14:39:58 +00:00
31999ecb1f
added 4-way symbolic factor
...
fixed a bug in the bayes tree to graphviz routine
2010-02-09 22:59:18 +00:00
e83b6c3b84
Normalizing rotation matrix to fix numerical instability when composing many poses
2010-02-09 22:44:02 +00:00
31fc894a4a
added 4-way symbolic factor
...
fixed a bug in the bayes tree to graphviz routine
2010-02-09 21:32:14 +00:00
d2a4bdae3c
Made simulated2D factors more generic - can now specify key types
2010-02-09 19:47:39 +00:00
8ff64793f1
Apparently, expmap != exmap. TupleConfigN's are no longer broken now.
2010-02-09 19:27:28 +00:00
942e2b9c6d
static chr() function for TypedSymbol, and another version of Symbol (don't use)
2010-02-09 03:59:45 +00:00
0c74e0c309
Ensured that constraints add keys to keys_
2010-02-09 01:52:36 +00:00
8aa440a679
Fixed the instantiation macros and exmap global functions for TupleConfigN
2010-02-09 01:24:41 +00:00
18d7fcc299
Added instantiation macros for TupleConfigs and NonlinearConstraints
2010-02-08 22:29:00 +00:00
fbef948254
Bug fix in replace()
2010-02-08 22:22:38 +00:00
ea9b44ea15
Fixed indentation
2010-02-08 22:21:56 +00:00
ed338300a1
Instantiation script for TupleConfig
2010-02-08 20:53:18 +00:00
ea3b8083b0
Fixed more tests for NonlinearConstraints, inequality constraints now work.
2010-02-07 01:18:17 +00:00
814fb949ba
fixed critical bug relating to height of tree
2010-02-06 17:45:40 +00:00
675b30d1c1
updates to BTree
2010-02-06 15:53:31 +00:00
f88438bab4
Removed SQP optimizer and moved remaining SQP optimizer tests into testSQP. All equality constraints should be fully functional now. Inequality constraints still to come.
2010-02-06 14:48:46 +00:00
219dfd262d
SQP now works with single configs using the TupleConfigs, without needing a separate optimizer.
2010-02-06 05:14:52 +00:00
d8a8575d26
Removed a fixme comment
2010-02-06 05:12:09 +00:00
d1267d1ef3
Added more constructors, print functionality and formatting for TupleConfig
2010-02-06 05:10:25 +00:00
bb74b5c882
Added a config template parameter for ProjectionFactors
2010-02-06 05:08:52 +00:00
af9f45ff24
Used template parameters in simulated2D to make it possible to template factors on a config type with typedefs for the previous usage so no other code needs to change
2010-02-05 14:49:40 +00:00
040d45cb45
Added wrapper classes for TupleConfig for ease of use.
2010-02-05 01:33:33 +00:00
8fe0795dd0
BTree moved into gtsam
2010-02-04 21:02:05 +00:00
5c1c8ee76f
Changed PairConfig interface so that the internal configs need to be accessed with first() and second(). This is in anticipation of switching PairConfig to TupleConfig2.
2010-02-04 17:15:09 +00:00
2068477e32
Added pragma once to LieConfig to prevent errors if included multiple times
2010-02-04 16:08:59 +00:00
67744a5f07
Changed NonlinearConstraint to correctly use new keys
2010-02-04 16:08:11 +00:00
01bbd3cf8d
Disabling SQP tests while transitioning config types and SQP implementation
2010-02-04 16:07:20 +00:00
843f11678b
Recursive TupleConfig now has typedefs for 2-6 configs
2010-02-04 03:40:03 +00:00
4e70f14097
The recursive TupleConfig should be ready for use now.
2010-02-04 02:04:45 +00:00
550121013f
fix const string problem in print
2010-02-03 20:12:16 +00:00
e5a7d4c878
More functionality in TupleConfigs
2010-02-03 14:08:09 +00:00
94d50ddfb9
Added a liberal sprinkling of 'typename' to make TupleConfig work better
2010-02-03 13:57:34 +00:00
a66a405dd5
Partially implemented version of a recursive TupleConfig that is still very much under testing.
2010-02-03 13:47:13 +00:00
2f16d8f6a1
Changed the order of constructor initializers in GaussianFactor to remove compiler warnings
2010-02-01 16:04:14 +00:00
5554f6fc7e
Faster non-GSL versions of BLAS 2-style calls
2010-01-31 22:56:06 +00:00
efe51c8419
Fixed typo in function name
2010-01-31 21:09:03 +00:00
2889a25aeb
Fixed autotools files for GSL inclusion so that they don't include the wrong BLAS implementation when ATLAS is enabled
2010-01-31 18:26:18 +00:00
c266012dcd
Added GSL/ATLAS version of multiplyAdd() and transposeMultiplyAdd()
2010-01-31 18:25:03 +00:00
74dd7128ac
Fixup cholesky decomposition - rename to LLt and RtR to make convention clear
2010-01-31 18:07:29 +00:00
87cc573d34
Added a new combine process for GaussianFactors that allocates only one matrix when combining, rather than using append factor to make a large number of smaller matrices. There is a flag to switch between these modes, which currently defaults to the older approach. Currently, there does not appear to be a performance improvement, however.
2010-01-31 17:49:33 +00:00
9f16d7b07f
Added in-place sub insert function to Vector
2010-01-31 17:24:01 +00:00
48d2dabe43
Added in-place insertion functions to Matrix, as well as a #define flag to enable or disable GSL code without a reconfigure.
2010-01-31 17:21:07 +00:00
b5ca322d21
Added default tolerance value to equals in Key classes so that equals() works properly
2010-01-31 17:00:27 +00:00
fa6a515bfd
SAM was substantially sped up by inlining VectorConfig::insert
2010-01-31 16:05:16 +00:00
5e4b23df59
Matrix::multiplyAdd and transposeMultiplyAdd are "level 2" BLAS and speed up the numeric part of the code substantially. Alex might be able to speed them up even more by making them use real BLAS code within Matrix.cpp.
2010-01-31 16:04:24 +00:00
3b6c4917a9
GaussianBayesNet::backSubstituteInPlace
2010-01-31 04:39:41 +00:00
ac870bce4c
GaussianFactor::transposeMultiplyAdd
2010-01-31 03:33:53 +00:00
4f998e5ecd
Matrix::transposeMultiplyAdd
2010-01-31 02:53:03 +00:00
9b4ff5e099
transposeMultiplyAdd provied BLAS-style call for iterative speed
2010-01-30 23:59:29 +00:00
6ef09583b9
multiplyInPlace shaves a few seconds off but is fairly dangerous - I feel ambivalent....
2010-01-30 17:31:05 +00:00
Manohar Paluri
Alex Cunningham
Frank Dellaert
Kai Ni
Viorela Ila
justinca
Richard Roberts
Chris Beall
John Rogers