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354 Commits (33de8d6c0026d6df7cc6690dddbc440e27f68bc6)

Author SHA1 Message Date
Richard Roberts 1ce95c1d89 Removed LDL in favor of Cholesky 2012-05-15 15:49:14 +00:00
Stephen Williams da480b45eb Updated license 2012-05-15 15:28:24 +00:00
Richard Roberts 7b183d1237 Renamed derived optimizer verbosity parameters to start with 'verbosity' to make more auto-complete friendly 2012-05-15 13:33:32 +00:00
Richard Roberts 68467448a7 Fixed small LM bug (solving original instead of damped system) and added unit test 2012-05-15 13:23:43 +00:00
Richard Roberts 9e0996296a Added Cholesky/LDL switch in NonlinearOptimizer, preparing to remove 
LDL, remove dependency of NonlinearOptimizer on linear solvers.
 2012-05-15 05:08:57 +00:00
Richard Roberts 516e1610a1 Added joint marginals and unit tests 2012-05-15 00:01:38 +00:00
Richard Roberts bd76692794 Removed inactive code 2012-05-15 00:01:34 +00:00
Stephen Williams 754e289737 Fixed errors in unit tests from updated NonlinearOptimizers 2012-05-14 22:31:42 +00:00
Richard Roberts 93d1defc07 Updated Marginals doxygen 2012-05-14 21:33:05 +00:00
Richard Roberts 51d38f4b5d Added Marginals unit test and class 2012-05-14 21:33:03 +00:00
Richard Roberts 6bd94352ca Removed inactive code 2012-05-14 21:33:02 +00:00
Richard Roberts 75bd1689df Changes in progress 2012-05-14 19:10:02 +00:00
Richard Roberts 88f5e3d9b6 Merge remote-tracking branch 'svn/trunk' into NLO 
Conflicts:
	examples/Pose2SLAMExample_advanced.cpp
 2012-05-14 18:35:15 +00:00
Richard Roberts 5f94e477a4 Changes in progress 2012-05-14 18:32:54 +00:00
Stephen Williams fdc4cc586d Incremental modifications to the new Nonlinear Optimizer interface. 2012-05-14 18:11:52 +00:00
Richard Roberts 6c4bd1160a Changes in progress 2012-05-14 16:51:33 +00:00
Alex Cunningham cb017fee80 tested and documented ability to swap factors with ISAM2 2012-05-01 18:54:44 +00:00
Richard Roberts 6fb80c983d Added missing default values for detailed results 2012-04-12 18:46:55 +00:00
Richard Roberts 792c8ee55a Detailed results optionally returned by ISAM2::update, with the status of each variable 2012-04-12 03:04:32 +00:00
Richard Roberts 91e7dc5882 Caching linearized factors in iSAM2, improves speed when linearization is expensive 
Merge remote-tracking branch 'svn/branches/iSAM2_cache_linearized' into trunk

Conflicts:
	.cproject
 2012-04-11 14:17:59 +00:00
Richard Roberts ed91c5c9ff Tweak to dogleg evaluating error decrease 2012-04-09 03:02:23 +00:00
Richard Roberts 45f2101f48 Fixed deep copy in iSAM2 and added unit test to reproduce problem 2012-04-06 18:56:07 +00:00
Richard Roberts c83a399bba Continuing code simplification / restructuring 2012-04-05 02:45:47 +00:00
Richard Roberts 48e277a095 Added swap method to Values 2012-04-05 02:45:45 +00:00
Richard Roberts d0211bb031 Simplifying code and minor restructuring to support SPCG - removed update functions so NLO is now completely immutable, moved ordering to parameters, added SuccessiveLinearizationOptimizer base class that will do direct and iterative linear solving, with derived classes for GN, LM, DL. This structure will allow us to later add a new NLO subclass for nonlinear gradient descent methods. 2012-04-04 23:20:42 +00:00
Richard Roberts 14d20cff0b Bug fix when getting nonlinear error debug statistics 2012-04-03 23:20:03 +00:00
Richard Roberts 7226f910bb Bug fix when relinearizing on first step in iSAM2 2012-04-03 22:06:06 +00:00
Richard Roberts 8cd7662dab Removed commented code 2012-04-02 20:43:34 +00:00
Stephen Williams ad4ca799d8 Added message to out-of-range exceptions 2012-04-02 20:14:33 +00:00
Stephen Williams 36c921bb9f Reordered gradient calculation to improve computation performance 2012-04-02 20:06:00 +00:00
Stephen Williams 4d9542dc70 Fixed compile warning 2012-04-02 20:04:43 +00:00
Richard Roberts 9366136c78 In progress - making NLO interface less confusing / error prone with a separate "state" class. Refactoring in NLO to reduce amount of code and remove code duplication. 2012-04-02 00:26:42 +00:00
Richard Roberts fdb4138d10 Started NLO state 2012-04-01 20:22:24 +00:00
Richard Roberts 46a1fb1103 Merge remote-tracking branch 'svn/trunk' into NLO 
Conflicts:
	.cproject
 2012-03-31 01:02:45 +00:00
Alex Cunningham 5e7c28f6a7 Reworked cmake timing generation to use generalized test-adding macro 2012-03-29 18:57:29 +00:00
Alex Cunningham b2bf03d21f Switching cmake macros to more flexible ones - now allows for manual exclusion of tests 2012-03-29 18:57:27 +00:00
Richard Roberts b07d2096c2 Improved NLO documentation 2012-03-28 04:53:16 +00:00
Richard Roberts ba8fb0ba27 iSAM2 factorization parameter to choose LDL or QR 2012-03-27 23:30:19 +00:00
Richard Roberts 5e6a1836e9 shared_ptr typedef 2012-03-24 19:53:39 +00:00
Richard Roberts daae77771b Changed nonlinear convergence to <= (from <) 2012-03-24 19:53:32 +00:00
Richard Roberts 5be3af8d6d Added ordering accessor 2012-03-24 19:53:25 +00:00
Richard Roberts 3baba11815 Fine-grained ordering constraints in iSAM2 2012-03-24 16:52:55 +00:00
Richard Roberts 829bb1f8aa Added 'optimized' shortcut function to optimize and return Values directly 2012-03-23 22:43:59 +00:00
Richard Roberts 22ebe16a31 Merge remote-tracking branch 'svn/branches/incremental_dogleg_points_to_merge' into trunk 
Conflicts:
	.cproject
	gtsam/linear/GaussianBayesTree-inl.h
	gtsam/linear/GaussianBayesTree.cpp
	gtsam/linear/GaussianBayesTree.h
	gtsam/nonlinear/DoglegOptimizerImpl.h
	gtsam/nonlinear/GaussianISAM2-inl.h
	gtsam/nonlinear/GaussianISAM2.cpp
	gtsam/nonlinear/GaussianISAM2.h
	gtsam/nonlinear/ISAM2-impl.cpp
	gtsam/nonlinear/ISAM2-inl.h
	gtsam/nonlinear/ISAM2.h
 2012-03-23 04:31:54 +00:00
Richard Roberts 9bd9e24af8 Fixes in printing 2012-03-23 03:39:02 +00:00
Richard Roberts 4432916745 Put default absolute error tolerance back to 1e-5 2012-03-23 03:39:01 +00:00
Richard Roberts bcd663244a Moved printing to NonlinearOptimizer base class 2012-03-23 03:38:58 +00:00
Richard Roberts 0bd74426ea Added DoglegOptimizer 2012-03-23 03:38:57 +00:00
Richard Roberts aedf55bad8 Comment fix 2012-03-23 03:38:53 +00:00
Richard Roberts b5e00efecf Small cleanups 2012-03-22 19:47:29 +00:00