Richard Roberts
|
2c53df3ee7
|
Simplified VectorValues interface and implementation, slight simplification to Permuted<>
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2011-10-26 02:04:06 +00:00 |
Frank Dellaert
|
7c55724ddd
|
Doxygen
|
2011-10-22 19:57:36 +00:00 |
Manohar Paluri
|
5016ca4f25
|
Added determinant function to GaussianBayesNet and added a unit test
|
2011-10-21 21:45:40 +00:00 |
|
Frank Dellaert
|
8535b13809
|
Made error a method again: all checks, let me know if project throw errors
|
2011-10-21 05:36:30 +00:00 |
|
Frank Dellaert
|
ce5751e454
|
Moved test here from gtsam_experimental, as now works
|
2011-10-21 05:35:30 +00:00 |
Alex Cunningham
|
3b5c6e8cef
|
Removed old Testable base class
|
2011-10-20 02:11:28 +00:00 |
|
Frank Dellaert
|
56d1d6ae34
|
Fixed some Doxygen problems with global replace
|
2011-10-14 03:23:14 +00:00 |
|
Richard Roberts
|
af3c12a7df
|
Implemented N-way factor base class in NoiseModelFactor, added NonlinearFactor{3-6}, adapted NonlinearFactor1,2,3 and NonlinearConstraint1,2,3 to derive from NoiseModelFactor in a minimal way
|
2011-10-03 04:24:24 +00:00 |
|
Richard Roberts
|
63ca74e492
|
Fixed bug in multifrontal marginals caused by backwards permutations with LDL (seems to be an inconsistency in Eigen?). Added GaussianConditional constructor from any number of frontal and parent variables. Added several new unit tests on marginals. Fixed small bug in GaussianConditional non-const get_d_ and get_R_ functions that didn't account for multiple frontal variables.
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2011-09-23 02:50:46 +00:00 |
|
Richard Roberts
|
222d5073b9
|
Relocated unit test
|
2011-09-23 02:48:34 +00:00 |
|
Alex Cunningham
|
4569bb41a3
|
Fixed serialization of stereo cameras
|
2011-09-12 15:30:31 +00:00 |
|
Richard Roberts
|
936ee6d9fd
|
ISAM2 refactoring and documentation
|
2011-09-07 15:42:49 +00:00 |
|
Frank Dellaert
|
b614f6bf42
|
header order
|
2011-09-03 04:47:43 +00:00 |
|
Frank Dellaert
|
04e41f8c38
|
Split off NoiseModelFactor (a NonlinearFactor with a NoiseModel) from NonlinearFactor (a Factor with dim, linearize, and symbolic methods). NonlinearConstraint derives from NoiseModelFactor.
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2011-09-03 03:46:19 +00:00 |
|
Frank Dellaert
|
0c34b57b92
|
removed spurious typename
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2011-09-02 13:53:36 +00:00 |
|
Richard Roberts
|
06fd0335cc
|
ISAM2 parameters struct instead of function arguments and hard-coded values, also documentation improvement and refactored IndicesFromFactors
|
2011-09-01 21:53:57 +00:00 |
Stephen Williams
|
b1c1b45aba
|
Renamed Key and Values to have a common name between linear and nonlinear examples
|
2011-08-30 19:54:50 +00:00 |
|
Richard Roberts
|
059de23b6e
|
Moved ISAM2 from inference to nonlinear
|
2011-08-30 17:15:50 +00:00 |
Duy-Nguyen Ta
|
f45b1556ca
|
typedef typename ... doesn't compile for me. Removing typename makes it work.
|
2011-08-29 19:22:11 +00:00 |
|
Stephen Williams
|
27d062a0f0
|
Fixed compile errors due to new SharedGaussian definition
|
2011-08-27 13:50:35 +00:00 |
|
Stephen Williams
|
82fdb0a5f8
|
Added ExtendedKalmanFilter class and easyPoint2KalmanFilter example
|
2011-08-27 12:28:47 +00:00 |
Yong-Dian Jian
|
fd07d61a2e
|
Add a robust noise model. Change SharedGaussian to SharedNoiseModel
|
2011-08-26 21:41:01 +00:00 |
|
Richard Roberts
|
d329d06b77
|
(in branch) moved ISAM2 into main gtsam library
|
2011-08-18 18:06:35 +00:00 |
|
Frank Dellaert
|
964af8b21c
|
Commented use of GTSAM_MAGIC_KEY
|
2011-08-18 13:18:26 +00:00 |
|
Alex Cunningham
|
778001f63e
|
assorted cleanup - mostly comments and adding implementations to cpp files, rather than in header files
|
2011-06-13 20:01:58 +00:00 |
|
Alex Cunningham
|
322f61c537
|
added flags for dataset timing tests to change the number of trials
|
2011-06-13 17:14:24 +00:00 |
|
Alex Cunningham
|
fa4faa274a
|
Merge branch 'prep_0.9.3'
|
2011-06-13 16:55:31 +00:00 |
|
Alex Cunningham
|
36f9ebae90
|
Removed files full of broken code, removed simulated2D matlab files, condensed slam unit tests, added the only known test for SPCG in gtsam
|
2011-06-04 20:42:29 +00:00 |
|
Alex Cunningham
|
c4d9208eeb
|
Added serialization for most linear/inference structures, simulated2D - serialization, except for example domains, should be complete
|
2011-06-04 16:52:54 +00:00 |
|
Richard Roberts
|
265b057580
|
Removed key sorting from NonlinearFactor
|
2011-06-04 14:54:27 +00:00 |
|
Alex Cunningham
|
c44315fec8
|
Added more serialization - geometry is done, jacobian and hessian factors done, visual system done. Split projection factor out from visual SLAM into separate header
|
2011-06-03 21:32:27 +00:00 |
|
Alex Cunningham
|
9160775d2a
|
Added nonlinear constraints to gtsam library
|
2011-06-03 15:07:11 +00:00 |
|
Alex Cunningham
|
e9b8a48c43
|
ccolamd now installs and works with gtsam - all tests pass
|
2011-06-02 14:35:26 +00:00 |
|
Alex Cunningham
|
040493474f
|
added more serialization
|
2011-05-20 18:43:42 +00:00 |
|
Alex Cunningham
|
e20561be73
|
Merge branch 'eigen'
|
2011-05-20 13:52:08 +00:00 |
|
Alex Cunningham
|
d35eb581ee
|
Removed experimental cmake files - see the branch cmake_build
|
2011-05-19 19:16:03 +00:00 |
|
Yong-Dian Jian
|
85ff7853eb
|
experimental cmake support for linux
|
2011-05-09 16:53:08 +00:00 |
|
Richard Roberts
|
5057138ef1
|
Returning GaussianFactor instead of JacobianFactor from NonlinearFactor::linearize and NonlinearFactorGraph::linearize, so that HessianFactors may be returned as well.
|
2011-04-12 21:18:10 +00:00 |
|
Richard Roberts
|
f5eac05add
|
Merged factorization branch - sequential and multifrontal factorization with a function argument to specify the elimination method
|
2011-03-29 21:32:22 +00:00 |
|
Richard Roberts
|
07820af903
|
Fixed crashes when doing linearize/solve on nonlinear factor graphs with NULL factors
|
2011-03-29 19:51:50 +00:00 |
|
Frank Dellaert
|
5c193422af
|
Major change, elimination functions are now passed an "Eliminate function", so you can select at run-time which factorization method is used (symbolic, QR, etc...).
|
2011-03-24 19:27:12 +00:00 |
|
Alex Cunningham
|
726bed11b8
|
Removed exports for SharedGaussian and SharedDiagonal and moved them to testSerialization
|
2011-03-08 19:19:21 +00:00 |
|
Alex Cunningham
|
fc3b668171
|
Removed boost.serialization export keys from noisemodel because they don't work outside of one test
|
2011-03-08 18:13:49 +00:00 |
|
Alex Cunningham
|
1c1e47ca1f
|
Added serialization export keys directly to NoiseModel
|
2011-03-04 14:56:18 +00:00 |
|
Alex Cunningham
|
a87a52035d
|
Serialization for (some) nonlinear factors now works, added virtual destructors to factor classes that needed them.
|
2011-03-03 17:16:13 +00:00 |
|
Alex Cunningham
|
cee6b4523e
|
Improved serialization for noisemodel and NonlinearFactors, however currently fails on NonlinearFactorGraphs and some factors
|
2011-02-23 20:31:19 +00:00 |
|
Alex Cunningham
|
4865f1a64d
|
Added more serialization functionality to noiseModel, but SharedGaussians segfault on test, so tests for Nonlinear graphs are commented out
|
2011-02-23 05:19:07 +00:00 |
|
Richard Roberts
|
1c27b1021f
|
Removed incorrect dynamic_pointer_cast that caused a compile error for non-virtual derived factors.
|
2011-02-18 22:10:21 +00:00 |
|
Alex Cunningham
|
d8f05f78ff
|
Added marginal function to GaussianISAM, renamed and added comments to bayes tree
|
2011-02-11 22:08:07 +00:00 |
|
Alex Cunningham
|
7407843214
|
Reworked nonlinear optimizer so that it only uses a solver member variable if you are using spcg. SPCG may be broken at this point, and its member variable will be removed soon.
|
2011-02-10 16:01:29 +00:00 |
|
Alex Cunningham
|
06b08c6f85
|
Fixed bug with shared solvers in recursive LM nonlinear optimizer
|
2011-02-10 16:01:28 +00:00 |
|
Alex Cunningham
|
719e851643
|
Added a functional version of LM optimization for comparison
|
2011-02-06 04:13:32 +00:00 |
|
Alex Cunningham
|
251d83b41a
|
Disabled unit test for serialization of Values, as FastMap does not have serialization
|
2011-02-04 05:45:42 +00:00 |
|
Alex Cunningham
|
37ee4f6cb3
|
Added a test for Ordering, added pop_back() to ordering, made changing the ordering in NonlinearISAM possible
|
2011-02-02 03:50:06 +00:00 |
|
Alex Cunningham
|
e4cda1b360
|
Added accessor for NonlinearISAM, comments and whitespace
|
2011-01-29 00:53:15 +00:00 |
|
Richard Roberts
|
4880257e69
|
Merging hessianfactor branch, Cholesky is now default and GaussianFactor is virtual (see email to frankcvs)
|
2011-01-20 22:22:00 +00:00 |
|
Alex Cunningham
|
4367a245bd
|
Added unit test for NonlinearISAM with a simple markov chain demo
|
2011-01-20 15:42:11 +00:00 |
|
Richard Roberts
|
880040a6f6
|
Added extra link libraries to examples and global tests required when building a static-only gtsam library
|
2010-12-29 03:25:52 +00:00 |
|
Richard Roberts
|
9edeb1102c
|
Fixed bug in BayesTree shortcuts and marginals. Also added an input check to Permutation::PushToBack and PullToFront that catches the bad input of duplicate variables caused by the bug.
|
2010-12-21 18:23:56 +00:00 |
|
Richard Roberts
|
a8a584d38e
|
Rolling back last commit (undoing merge of hessianfactor branch) - does not compile on Linux, could be compiler or boost version problems. Also will probably break Alex's stuff so will work that out before merging.
|
2010-12-17 01:11:28 +00:00 |
|
Richard Roberts
|
de1892016d
|
Merged in hessianfactor branch, Cholesky is now default. This merge also includes improved timing statements with automatic outlining and low overhead
|
2010-12-17 00:51:51 +00:00 |
|
Richard Roberts
|
a6fd5ff9e2
|
Removed unused inference-inl.h and testOrdering.cpp, added unit test for ordering with unobserved variables.
|
2010-12-09 01:34:20 +00:00 |
Kai Ni
|
e726f7c7af
|
remove backward compatible functions in NonlinearOptimizer
|
2010-11-21 22:00:22 +00:00 |
|
Richard Roberts
|
4e0b4021df
|
Added prior on the first pose in time*OnDataset
|
2010-11-19 16:30:06 +00:00 |
|
Richard Roberts
|
d6929d4409
|
Storing variable index in solver, saved between nonlinear iterations
|
2010-11-15 23:01:50 +00:00 |
|
Alex Cunningham
|
15310ed6ad
|
Added fix to make TupleConfig1 work
|
2010-11-06 17:35:47 +00:00 |
|
Richard Roberts
|
898ca38f1c
|
Removed unmatched timing statement, reduced default trials in timing scripts
|
2010-11-03 22:52:24 +00:00 |
|
Richard Roberts
|
60e10d7380
|
Added timeSequentialOnDataset and timeMultifrontalOnDataset, removed timeLinearOnDataset
|
2010-11-03 22:35:02 +00:00 |
|
Kai Ni
|
448ada270a
|
create n-way factor, return keys from nonlinear factor graph
|
2010-10-30 19:27:30 +00:00 |
|
Alex Cunningham
|
201b16dabe
|
Added more print statements for timing
|
2010-10-29 15:00:57 +00:00 |
|
Richard Roberts
|
3743342534
|
Standardized function names - marginalFactor, marginalFactorGraph, marginalCovariance
|
2010-10-25 22:45:45 +00:00 |
|
Richard Roberts
|
2c90e3d836
|
Moved the subdirectories that compile into libgtsam.la into a 'gtsam' subdirectory. Hopefully a good fix for the problem we had trying to make a gtsam distribution, that the source directory may not be called 'gtsam'.
|
2010-10-25 20:10:33 +00:00 |
|
Richard Roberts
|
fda11d7c15
|
Extra unit test to check that marginals from sequential and multifrontal are the same
|
2010-10-22 22:53:33 +00:00 |
|
Richard Roberts
|
8ff5bf5c7c
|
Bug fix in BayesTree marginal, re-enabled joint and unit tests
|
2010-10-22 22:11:23 +00:00 |
Chris Beall
|
69c6d05ce1
|
config() changed to values() for consistency
|
2010-10-22 19:29:15 +00:00 |
|
Richard Roberts
|
f9e0ed07a3
|
Code cleanup: lean and mean VariableIndex (got rid of different types for different FG's, slots, and storage template), renamed Conditional.h and Factor.h to match class names ConditionalBase and FactorBase (not ideal names but prevents conflict with typedefs), added typedef for symbolic multifrontal solver.
|
2010-10-22 18:02:55 +00:00 |
|
Richard Roberts
|
1d94dacca0
|
make check passes with dense qr using lapack geqrf
|
2010-10-22 03:51:10 +00:00 |
|
Richard Roberts
|
812e3277ee
|
New linear solver interface, global inference functions removed.
|
2010-10-21 22:59:54 +00:00 |
|
Richard Roberts
|
f15fea202e
|
Change that may be reverted again soon - templated factor base type on key and make IndexFactor and IndexConditional for all current code. Did this to experiment with using symbols on the linear side in an efficient way but am putting this on hold for now because of complications. Will revisit and either fix or revert to int-only later in the week. Also moved some files to experimental and templating EliminationTree on FACTOR instead of FACTORGRAPH.
|
2010-10-19 21:31:13 +00:00 |
|
Chris Beall
|
4071d4f673
|
small change to make boost work properly
|
2010-10-18 21:44:38 +00:00 |
|
Richard Roberts
|
4a7b8bad27
|
--with-boost no longer required, automatically finding boost
|
2010-10-17 17:06:28 +00:00 |
|
Alex Cunningham
|
a9a066aec7
|
Removed hard constraints from gtsam library (with the exception of NonlinearEquality) and moved them to gtsam_experimental and MastSLAM
|
2010-10-17 03:56:05 +00:00 |
|
Kai Ni
|
bc36e653fd
|
depend on external CCOLAMD and DenseQR
|
2010-10-16 01:55:47 +00:00 |
|
Richard Roberts
|
130d9d2797
|
Made EliminationTree generic, with Symbolic and Gaussian unit tests
|
2010-10-15 15:53:36 +00:00 |
|
Kai Ni
|
24d499039f
|
prepend license information on all the codes
|
2010-10-14 04:54:38 +00:00 |
|
Kai Ni
|
5cbf67eeba
|
move colamd and spqr_mini out of gtsam
|
2010-10-14 02:41:08 +00:00 |
|
Richard Roberts
|
47b11749fe
|
Moved old elimination tree to gtsam_experimental
|
2010-10-13 22:07:52 +00:00 |
|
Richard Roberts
|
e545f59fb2
|
Inference::Marginal returns a factor graph
|
2010-10-13 20:41:26 +00:00 |
|
Frank Dellaert
|
b56b0fe3a4
|
Moved test to inference and added ETree prototype code
|
2010-10-12 05:19:51 +00:00 |
|
Frank Dellaert
|
fbdf9647f8
|
new test to drive elimination tree development
|
2010-10-12 00:15:26 +00:00 |
|
Frank Dellaert
|
057050fa9f
|
renamed varid_t to Index
|
2010-10-11 21:14:35 +00:00 |
|
Richard Roberts
|
96eb939749
|
Fixed computing marginals in BayesTree
|
2010-10-11 16:02:01 +00:00 |
|
Alex Cunningham
|
ccea5c79cb
|
unwhitened error in LinearApproxFactor now works
|
2010-10-11 04:47:57 +00:00 |
|
Alex Cunningham
|
c92026884b
|
moved and enabled testKey, LinearApproxFactor creation/linearization works
|
2010-10-11 04:30:19 +00:00 |
|
Alex Cunningham
|
c57c93a490
|
Re-enabled more constraints
|
2010-10-11 04:30:18 +00:00 |
|
Richard Roberts
|
45456aab8e
|
Fixed computing shortcuts in BayesTree
|
2010-10-10 03:10:03 +00:00 |
|
Richard Roberts
|
84d6b5be6a
|
Re-enabled computing marginals of a set of variables (Inference::Marginal(...))
|
2010-10-10 00:51:57 +00:00 |
|
Alex Cunningham
|
07bda5aa97
|
Changed linear config names to *Values, updated comments
|
2010-10-09 03:09:58 +00:00 |
|
Alex Cunningham
|
6002931e12
|
Renamed LieConfig and TupleConfig to use Values
|
2010-10-09 03:09:55 +00:00 |
|
Richard Roberts
|
1d52ff90a8
|
Merged simplelinear branch into trunk
|
2010-10-08 22:04:47 +00:00 |