Alex Cunningham
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83a1483e9f
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Adding unit tests and a bugfix for liquefying bayes tree function
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2013-06-11 14:36:52 +00:00 |
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Alex Cunningham
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361682c485
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Working on a test for liquefy
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2013-06-11 14:36:51 +00:00 |
Frank Dellaert
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ebcc638ef5
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renamed dist to distance (dist still works but now deprecated)
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2013-06-05 16:11:36 +00:00 |
Richard Roberts
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b2d4469cb3
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Added missing export tag
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2013-06-04 17:34:02 +00:00 |
Stephen Williams
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1e5f9c742d
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Revert "Modified Concurrent Filter to calculate marginals using a "shortcut" that allows constant-time updates during synchronization. Still need to test implementation."
This reverts commit f24a4f4668006cfe9a3eeb1658b7df03c74490d5.
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2013-05-22 00:05:03 +00:00 |
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Stephen Williams
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8e26da7396
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Added matlab version of the Concurrent Filtering and Smoothing example
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2013-05-21 21:07:45 +00:00 |
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Stephen Williams
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5f371a4e55
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Modified Concurrent Filter to calculate marginals using a "shortcut"
that allows constant-time updates during synchronization. Still need to
test implementation.
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2013-05-21 21:07:43 +00:00 |
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Richard Roberts
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16c11c70fb
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Fixes to compile on Windows
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2013-05-21 17:24:49 +00:00 |
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Stephen Williams
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13d3f1cb6e
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Updated Fixed-Lag smoother example
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2013-05-21 14:57:40 +00:00 |
Duy-Nguyen Ta
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77c2e37a4d
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remove unused debug variables
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2013-05-21 00:03:05 +00:00 |
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Frank Dellaert
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03977ba628
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Added wrapping of AHRS
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2013-05-20 23:28:38 +00:00 |
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Frank Dellaert
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1d9000724d
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Moved AHRS to gtsam_unstable
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2013-05-20 23:16:44 +00:00 |
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Stephen Williams
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1c5061cf3c
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Added optional flag to ConcurrentBatchFilter to control relinearization
during syncs.
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2013-05-17 08:06:06 +00:00 |
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Alex Cunningham
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d4ec018d0f
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Added constructors to Point2Vector
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2013-05-13 20:48:09 +00:00 |
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Richard Roberts
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50866b9a0e
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Partial fix for compiling statically on Windows
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2013-05-13 18:04:36 +00:00 |
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Stephen Williams
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7d03d3c502
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Moved pre-sync code to the update() call for the cuncurrent smoother
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2013-05-09 18:59:22 +00:00 |
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Stephen Williams
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93149ae5f2
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Updated Concurrent example, forcing a call to smoother.update() between
each synchronization
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2013-05-09 18:59:20 +00:00 |
Chris Beall
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7ad3de6bc0
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documentation
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2013-05-08 20:10:49 +00:00 |
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Chris Beall
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32b3eebf07
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removed redundant shared_ptr typedefs in Cal3_S2 and Cal3_S2Stereo
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2013-05-08 19:21:00 +00:00 |
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Stephen Williams
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9e39df6e88
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Added PriorFactor and BetweenFactor with optional sensor pose
transformations. Ideally these should simply be the PriorFactor and
BetweenFactor, but more investigation is needed.
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2013-05-08 13:23:56 +00:00 |
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Stephen Williams
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f68e301458
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Wrapped Inverse Depth Factor variants
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2013-05-08 13:23:39 +00:00 |
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Stephen Williams
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54808f6d44
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Added several experimental versions of an Inverse Depth Factor
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2013-05-08 13:23:35 +00:00 |
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Alex Cunningham
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acd6e629e8
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Moved older functions back to gtsam_unstable, cleanup. All tests pass. Rearranged summarization wrap interfaces.
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2013-05-08 10:13:57 +00:00 |
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Alex Cunningham
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81f63bcc0e
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Rearranging summarization, now with unit test in gtsam
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2013-05-08 10:11:45 +00:00 |
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Stephen Williams
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36e66b2f0b
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Fixed synchronization code in ConcurrentBatchFilter such that an empty graph does not trigger a segfault
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2013-05-01 20:54:53 +00:00 |
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Duy-Nguyen Ta
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444ab957c4
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a numerical derivative version for DiscreteEulerPoincare'Factor, but currently disabled.
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2013-05-01 17:30:21 +00:00 |
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Alex Cunningham
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62f6089119
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Updated matlab wrapping for moved factors
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2013-04-30 17:50:48 +00:00 |
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Alex Cunningham
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a069d24374
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Moved PoseRotationPrior, PoseTranslationPrior and ReferenceFrameFactor to gtsam.slam
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2013-04-30 17:50:47 +00:00 |
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Duy-Nguyen Ta
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84ababc653
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wrap SimpleHelicopter factors and fix a bug in noisemodel dimension
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2013-04-30 17:21:42 +00:00 |
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Duy-Nguyen Ta
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26c63ec122
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increase tolerance in TEST( testPoseRTV, Lie )
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2013-04-29 23:35:08 +00:00 |
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Duy-Nguyen Ta
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e4a9c398c8
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Factor for Discrete Euler Poincare' equation in SE3 for Simple Helicopter dynamics with correct dertivatives
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2013-04-29 17:21:13 +00:00 |
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Alex Cunningham
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224be276e4
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Added a new summarization convenience function and cleaned up documentation
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2013-04-26 18:27:22 +00:00 |
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Alex Cunningham
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2b7d173c22
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Added include path for generated headers when wrapping
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2013-04-25 18:24:41 +00:00 |
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Stephen Williams
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009012005e
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Removed VariableIndex from the class members as it was often left in an inconsistent state
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2013-04-25 18:12:05 +00:00 |
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Stephen Williams
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1e1dfdd808
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Updated BatchFixedLagSmoother to use the latest version of optimization and marginalization code
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2013-04-25 18:10:21 +00:00 |
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Richard Roberts
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eeef9eab32
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Generating config.h file in CMake with quaternion mode flag, dataset paths. Also added CMake option to use system-installed Eigen, which works by generating a global eigen include file containing the corresponding include paths.
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2013-04-25 15:57:15 +00:00 |
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Richard Roberts
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5f3238634d
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Added missing GTSAM_UNSTABLE_EXPORT tag
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2013-04-25 15:57:06 +00:00 |
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Alex Cunningham
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38af960c53
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removed commented line
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2013-04-24 17:34:49 +00:00 |
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Alex Cunningham
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1c17065376
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Removed unnecessary templated traits from partial pose priors - now uses rotationInterval and translationInterval
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2013-04-24 17:34:48 +00:00 |
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Richard Roberts
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124a38f72d
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Made unit test local vars/functions in anonymous namespace
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2013-04-22 17:44:09 +00:00 |
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Duy-Nguyen Ta
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cde44b2952
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Finally finish implementing the Reconstruction factor for updating the poses of holonomic vehicles using discrete variational integrators (eq. 10 in [Kobilarov09siggraph]). Also, better approximation for the derivative of the inverse expmap wrt the lie algebra in Pose3. Test with numericalderivative.
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2013-04-22 08:34:40 +00:00 |
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Stephen Williams
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c1f14d60be
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Purged unused code
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2013-04-19 12:16:18 +00:00 |
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Stephen Williams
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201ca3da9e
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Removed debug print statement
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2013-04-19 12:16:04 +00:00 |
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Stephen Williams
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3eade960b8
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Fixed bugs in marginal generation. It is possible that the marginalization will be "perfect", resulting in no marginal factor. However, a factor was being created anyway.
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2013-04-19 12:13:43 +00:00 |
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Duy-Nguyen Ta
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541d416c84
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comment for VelocityConstraint3::evaluateError
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2013-04-17 21:25:15 +00:00 |
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Duy-Nguyen Ta
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494885bf1d
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factors for the pendulum discrete mechanics in position-momentum form to use with variational integrator
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2013-04-16 19:07:59 +00:00 |
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Duy-Nguyen Ta
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37d244e49b
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fix bug in PendulumFactor2's jacobian
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2013-04-16 02:17:19 +00:00 |
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Duy-Nguyen Ta
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6a139bd0f8
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Factors for the simple Pendulum dynamics for being used with explicit/implicit/sympletic Euler integrators as in [Stern06siggraph]
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2013-04-15 21:31:47 +00:00 |
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Stephen Williams
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c2fb82b935
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Added matlab wrapping for Fixed-Lag Smoothers and Concurrent Filters and Smoothers
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2013-04-15 19:54:46 +00:00 |
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Stephen Williams
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f216e97a15
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Modified the getter method in the FixedLagSmoother base class to follow general GTSAM conventions
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2013-04-15 17:53:33 +00:00 |
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Stephen Williams
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41238572c1
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Extended the Concurrent Filtering and Smoothing example to include a delayed loop closure
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2013-04-15 16:07:40 +00:00 |
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Stephen Williams
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693a0f991a
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Added the Filter<->Smoother synchronization back into the example
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2013-04-12 13:05:52 +00:00 |
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Stephen Williams
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f3007f5013
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Moved the pre-sync code back into the presync() function call. This allows the Filter and Smoother to synchronize properly even when no call to smoother.update() has been made.
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2013-04-12 13:05:20 +00:00 |
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Stephen Williams
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34d7742d95
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Added first version of a Concurrent Filtering and Smoothing example
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2013-04-12 12:53:34 +00:00 |
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Stephen Williams
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03db2b7e55
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Modified comments
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2013-04-12 12:53:05 +00:00 |
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Stephen Williams
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460a428c97
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Provided default parameters for concurrent batch filter and smoother constructors
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2013-04-12 12:52:29 +00:00 |
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Stephen Williams
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1c738123b9
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Fixed inconsistency between odometry measurements and initializations
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2013-04-12 12:51:22 +00:00 |
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Stephen Williams
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5087e4eabc
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Modified Fixed-Lag Smoothing example to call iSAM2 multiple times to recover the same solution as batch
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2013-04-11 21:10:32 +00:00 |
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Stephen Williams
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321de2f701
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Removed debugging check from IncrementalFixedLagSmoother and added work around for tree reordering
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2013-04-11 20:55:55 +00:00 |
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Stephen Williams
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c902908115
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Added 'examples' folder to gtsam_unstable
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2013-04-11 20:47:25 +00:00 |
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Stephen Williams
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95e97c2dfc
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Changed the default 'enforceConsistency' flag to true in the Batch Fixed-Lag Smoother to match the incremental version
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2013-04-11 20:07:58 +00:00 |
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Stephen Williams
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d44a9e3b75
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Removed unused code from Concurrent Batch Filter unit test
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2013-04-11 19:16:52 +00:00 |
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Stephen Williams
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f963aeb401
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Completed rewrite of synchronization functions for the Concurrent Batch Filter
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2013-04-11 19:16:15 +00:00 |
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Stephen Williams
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04d595dec1
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Started re-implementing the synchronization functions for the Concurrent Filter
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2013-04-11 12:43:42 +00:00 |
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Stephen Williams
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634a4c5ef9
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Updated Concurrent Smoother for changes in the base class synchronization
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2013-04-11 12:42:45 +00:00 |
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Stephen Williams
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0a459549f8
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Updated synchronization interface to require the smoother and filter to track their own separator keys and values
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2013-04-11 12:42:09 +00:00 |
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Duy-Nguyen Ta
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08e6d8860b
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wrap VelocityConstraint3
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2013-04-11 12:07:42 +00:00 |
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Duy-Nguyen Ta
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72325d673d
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simple 3-way factor velocity constraint with LieScalar
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2013-04-10 22:02:21 +00:00 |
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Stephen Williams
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1952337e23
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Removed unused code from Concurrent Batch Smoother
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2013-04-10 21:08:52 +00:00 |
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Stephen Williams
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dce575cb73
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Refactored synchronization code for Concurrent Batch Smoother
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2013-04-10 15:22:28 +00:00 |
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Stephen Williams
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e4b452473e
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Removed variable index from equal test in ConcurrentBatchFilter
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2013-04-10 15:21:50 +00:00 |
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Stephen Williams
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5cd020080b
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Added marginalization code and unit tests to ConcurrentBatchFilter
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2013-04-10 12:47:55 +00:00 |
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Stephen Williams
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ed560aa13a
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Updated unit tests for changes in the Concurrent Filtering and Smoothing classes. Currently the synchronization tests are disabled.
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2013-04-09 21:48:48 +00:00 |
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Stephen Williams
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0b5c07e543
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Starting to clean up and refactor the Concurrent Filtering and Smoothing classes. Currently the synchronization is disables, as is the marginalization in the filter.
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2013-04-09 21:24:05 +00:00 |
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Richard Roberts
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35cebaa873
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Moved inertial nav factors and unit tests to gtsam/navigation
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2013-04-09 20:04:10 +00:00 |
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Richard Roberts
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b68fee7b00
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Fixed bug in hessian_equal in testConcurrentBatchFilter
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2013-04-09 19:53:59 +00:00 |
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Stephen Williams
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ed90b00edf
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Updated ConcurrentBatchSmoother to use LinearContainerFactors
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2013-04-09 15:48:53 +00:00 |
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Stephen Williams
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4f064be4fa
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Updated synchronization code for CConcurrent Filter
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2013-04-09 15:39:24 +00:00 |
Vadim Indelman
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244ea20f9c
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Clean-up.
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2013-04-08 22:49:55 +00:00 |
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Stephen Williams
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4c6a460fa0
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Fixed bugs in tic-toc statements for Concurrent Filter and Smoother
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2013-04-08 17:42:26 +00:00 |
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Richard Roberts
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7c362b2cbd
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Loosened unit test thresholds slightly to account for roundoff error on some systems
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2013-04-05 19:12:46 +00:00 |
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Richard Roberts
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dd18366a2f
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Loosened unit test thresholds slightly to account for roundoff error on some systems
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2013-04-05 19:09:51 +00:00 |
|
Richard Roberts
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b9820550e2
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Added DLL export tags to new code
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2013-04-05 19:06:28 +00:00 |
|
Richard Roberts
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67e36febf2
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Added DLL export annotations on new code
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2013-04-01 19:29:53 +00:00 |
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Richard Roberts
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f773a34834
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Renamed experimentalMarginalizeLeaves to marginalizeLeaves and added comment
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2013-03-26 20:46:08 +00:00 |
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Alex Cunningham
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233c8aa7bb
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Moved summarization functions
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2013-03-23 20:19:43 +00:00 |
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Alex Cunningham
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f45c5c5f44
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Actually installing headers from unstable/linear
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2013-03-23 20:19:42 +00:00 |
|
Alex Cunningham
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a2bc0f8ae5
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Fixing wrapped typedefs
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2013-03-23 20:19:40 +00:00 |
|
Alex Cunningham
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045072746d
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Cleaning up extraneous namespace references
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2013-03-23 20:19:39 +00:00 |
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Alex Cunningham
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da334ed8a2
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Added linear tools (including summarization) from MastSLAM
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2013-03-23 20:19:36 +00:00 |
|
Alex Cunningham
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a0b55c3ff7
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Moved additional wrap definitions
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2013-03-23 20:19:32 +00:00 |
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Alex Cunningham
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3c2e037b16
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Moved geometry components from MastSLAM for Pose3Upright, BearingS2, SimWall2D and SimPolygon2D
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2013-03-23 20:19:30 +00:00 |
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Frank Dellaert
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458707ed45
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Small changes for Qualifier 2013 Scheduling
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2013-03-19 18:05:13 +00:00 |
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Stephen Williams
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396732ff6a
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Only call iSAM2 marginalize function if there are actually keys to marginalizae out
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2013-03-18 22:28:14 +00:00 |
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Stephen Williams
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9e1a07fcec
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Added debugging function to IncrementalFixedLagSmoother
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2013-03-18 21:39:07 +00:00 |
|
Stephen Williams
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f03be70770
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Updated iSAM2 Marginalize call for the latest version of GTSAM
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2013-03-18 21:32:43 +00:00 |
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Richard Roberts
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a54d177202
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Added dll export tags and updated cmake scripts so that GTSAM can build as a shared library on windows
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2013-03-13 18:56:21 +00:00 |
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Richard Roberts
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6111c099ab
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Improved build of shared vs static GTSAM libraries - now possible to build either one or both, executables link to the shared if it is being build, or otherwise to the static. Also removed separate shared/static CMake flags for gtsam_unstable, now uses the same GTSAM_BUILD_SHARED and GTSAM_BUILD_STATIC as gtsam.
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2013-03-13 18:17:39 +00:00 |
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Stephen Williams
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eacbaeb84d
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Updated incremental version of the fixed lag smoother to use the in-development iSAM2 marginalize functionality
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2013-03-05 20:54:00 +00:00 |
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Stephen Williams
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60d3ba2d0e
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Added and incremental fixed-lag smoother using new iSAM2 marginalization functionality, and created a common base class for all fixed-lag smoother implementations.
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2013-02-27 20:23:47 +00:00 |