Richard Roberts
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21c1af2b9f
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Collecting more statistics in isam2, logmap for configs
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2010-01-23 01:53:04 +00:00 |
Michael Kaess
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7bc4ee65da
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allow pure linear steps (disabled)
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2010-01-23 00:21:34 +00:00 |
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Michael Kaess
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ab155999cf
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simplified alg, but no measureable speed improvement
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2010-01-22 18:29:27 +00:00 |
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Michael Kaess
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1d093e388d
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changed main algorithm to allow recovery of exact solution
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2010-01-22 06:28:12 +00:00 |
Frank Dellaert
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41a6e64bbb
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Fixed insert to use IndexTable, a new class
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2010-01-22 02:27:26 +00:00 |
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Frank Dellaert
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2cc777228b
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coments and variables only
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2010-01-21 20:15:52 +00:00 |
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Michael Kaess
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2183e09c67
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fluid relinearization works
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2010-01-21 17:41:54 +00:00 |
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Michael Kaess
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523c8630d3
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works at least on already solved data...
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2010-01-21 16:09:57 +00:00 |
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Michael Kaess
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8fd0c2ae72
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new fluid relinearization algorithm, in sync with lyx
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2010-01-21 07:38:37 +00:00 |
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Michael Kaess
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188561d925
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removeTop/Path now returns a BayesNet to avoid converting the conditionals to a factor graph
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2010-01-21 00:38:22 +00:00 |
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Michael Kaess
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aae49e43f0
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code factorization, speedup
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2010-01-20 06:49:19 +00:00 |
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Michael Kaess
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ecde508318
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incremental nonlinear working
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2010-01-20 01:52:40 +00:00 |
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Michael Kaess
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d2291a38d1
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bug fixes after COLAMD activiation: BayesTree::insert was wrong, BayesTree::removeTop/Path fixed and simplified
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2010-01-20 01:24:32 +00:00 |
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Michael Kaess
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a45893a434
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selective incremental linearization works; bug fix in landmark initialization (frank01 again much faster)
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2010-01-19 01:18:28 +00:00 |
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Michael Kaess
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a2bce15c4b
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selective update of linearization point
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2010-01-19 00:15:46 +00:00 |
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Michael Kaess
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0e6607d160
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relinearization working, but currently applied to all variables
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2010-01-18 22:37:44 +00:00 |
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Michael Kaess
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f8ef284b30
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fixed bearing/range, large speedup for batch; incremental creation of Config works
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2010-01-18 20:17:31 +00:00 |
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Michael Kaess
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8e3a8f08c8
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incremental processing of planarSLAM; bug fix in ISAM2-inl
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2010-01-18 18:13:53 +00:00 |
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Michael Kaess
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18414b1286
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VectorConfig/Config confusion resolved; planarSLAM integrated
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2010-01-18 08:05:33 +00:00 |
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Michael Kaess
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6b2190159d
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restored lost changes
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2010-01-18 04:53:17 +00:00 |
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Michael Kaess
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42f4ff228b
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code cleanup, recovering estimate while dealing with incremental adding of factors, planar with new SLAM
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2010-01-18 04:32:45 +00:00 |
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Richard Roberts
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aef0b42562
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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>
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2010-01-17 19:34:57 +00:00 |
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Michael Kaess
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fbe425b966
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relinearizing part of a BayesTree, requiring caching of intermediate results during elimination
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2010-01-17 06:06:20 +00:00 |
Chris Beall
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a956c1a8be
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svn restored from 1733.
this commit updates gtsam to version 1774, which now appears as 1734.
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2010-01-16 01:16:59 +00:00 |
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Michael Kaess
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052149771a
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relinearizing factors corresponding to contaminated cliques
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2010-01-03 04:57:35 +00:00 |
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Michael Kaess
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b4e65e9631
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progress in ISAM2, but unit test still disabled
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2009-12-31 05:35:08 +00:00 |
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Michael Kaess
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42fca8c399
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nonlinear update, all but rhs/config
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2009-12-30 04:27:14 +00:00 |
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Michael Kaess
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737a2f1e05
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unit test enabled again and working
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2009-12-29 14:54:45 +00:00 |
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Michael Kaess
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75ab62a729
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ISAM2 (nonlinear ISAM) partially there, unit test currently disabled
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2009-12-29 05:57:05 +00:00 |