59c7ce7e29
Integrated householder-based QR into NoiseModel. Note that the examples for GFG have changed to ensure that they are actually a linearized version of the nonlinear example.
2010-01-27 04:39:35 +00:00
8b87eebba6
commented GSl bit
2010-01-27 01:03:49 +00:00
a0b96e7684
corrected case of Pose2SLAMoptimizer
2010-01-25 14:50:25 +00:00
807cffbd61
Pose2SLAMOptimizer prototype for use in MATLAB
2010-01-23 00:57:54 +00:00
e88ae4a944
add dataset.h/cpp
2010-01-22 20:18:40 +00:00
351cdd18c2
case change: SharedGaussian and SharedDiagonal are now classes with their own header file. Needed for MATLAB TORO hail Mary
2010-01-22 17:36:57 +00:00
5367e5a157
All std::map<Symbol,T> are now SymbolMap<T>, which is just a thin wrapper around std::map. at(Key) is used instead of first checking with find when an exception should be thrown for non-existent keys. This does not change any behavior or timing currently. This check-in also includes some functions in BayesTree for gathering clique statistics.
2010-01-22 04:41:40 +00:00
41a6e64bbb
Fixed insert to use IndexTable, a new class
2010-01-22 02:27:26 +00:00
9db7623f80
Improved instructions for GSL/ATLAS
2010-01-21 01:03:34 +00:00
063aa14118
Reimplemented matrix::householder_update using GSL and BLAS, you'll need to edit Makefile.am to enable the new version -- see email
2010-01-21 00:59:33 +00:00
eb03f78e7d
Removing dependency hack speeds up compilation
2010-01-20 20:47:15 +00:00
67878830a6
Added timeMatrix.cpp to test specific matrix operations
2010-01-19 20:59:22 +00:00
88e465910a
SQP tests and implementation now use the new Key system
2010-01-19 05:33:44 +00:00
e523b148cf
Moved tree stuff to graph, removed ordering-inl.h
2010-01-18 19:11:22 +00:00
dfeacb218e
Added tests for Keys, Added TypedLabeledSymbol class to allow for runtime symbols on keys
2010-01-18 16:18:02 +00:00
05b07d443e
add linear system solver as a template class parameter in nonlinear optimizer.
2010-01-18 05:51:19 +00:00
8967027198
Testing R and Whiten
2010-01-17 03:29:23 +00:00
4518069218
2010-01-17 00:35:49 +00:00
09d2cb9101
added numericalDerivative.h to headers
2010-01-16 23:10:38 +00:00
049cea6964
3D Pose SLAM + removed obsolete Urban files that somehow re-appeared in CitySLAM
2010-01-16 19:37:17 +00:00
f0ae2c064e
Merging in NoiseModel, not yet used though
2010-01-16 18:39:39 +00:00
99db4c37d8
2D Pose SLAM: created a new templated factor to accommodate GPS measurements, and as part of the refactor I consolidated all Pose2 SLAM classes in pose2SLAM.h. For backwards compatibility it contains
...
typedef pose2SLAM::Prior Pose2Prior;
typedef pose2SLAM::Odometry Pose2Factor;
typedef pose2SLAM::Constraint Pose2Constraint;
typedef pose2SLAM::Config Pose2Config;
typedef pose2SLAM::Graph Pose2Graph;
2010-01-16 18:01:16 +00:00
4914091c87
Pose2Prior test
2010-01-16 15:39:39 +00:00
26246188af
Added planar graph to timing script
2010-01-16 04:46:35 +00:00
a4ed0a191d
Forgotten header numericalDerivative.h
2010-01-16 04:22:41 +00:00
a956c1a8be
svn restored from 1733.
...
this commit updates gtsam to version 1774, which now appears as 1734.
2010-01-16 01:16:59 +00:00
e7bf219498
removed .cpp
2010-01-14 15:31:58 +00:00
e1388c0f0d
add Ordering-inl.h
2010-01-14 07:56:03 +00:00
dd697a838d
added TupleConfig.h as header
2010-01-14 06:20:34 +00:00
df62213619
RangeFactor works
2010-01-14 06:00:17 +00:00
8562c00a52
Explicit instantiation to fix link error on Linux, also header to install that was missing from Makefile.am
2010-01-14 05:01:40 +00:00
ac10c440e1
PairConfig is implemented, VSLAMConfig is now a typedef!
2010-01-14 02:58:29 +00:00
6b3e8cf49c
simulated2D now reduced to one .h and .cpp, in its own namespace, better naming, and new-style functions to serve as example
2010-01-14 02:50:06 +00:00
93465945e9
Large gtsam refactoring
...
To support faster development *and* better performance Richard and I pushed through a large refactoring of NonlinearFactors.
The following are the biggest changes:
1) NonLinearFactor1 and NonLinearFactor2 are now templated on Config, Key type, and X type, where X is the argument to the measurement function.
2) The measurement itself is no longer kept in the nonlinear factor. Instead, a derived class (see testVSLAMFactor, testNonlinearEquality, testPose3Factor etc...) has to implement a function to compute the errors, "evaluateErrors". Instead of (h(x)-z), it needs to return (z-h(x)), so Ax-b is an approximation of the error. IMPORTANT: evaluateErrors needs - if asked - *combine* the calculation of the function value h(x) and the derivatives dh(x)/dx. This was a major performance issue. To do this, boost::optional<Matrix&> arguments are provided, and tin EvaluateErrors you just says something like
if (H) *H = Matrix_(3,6,....);
3) We are no longer using int or strings for nonlinear factors. Instead, the preferred key type is now Symbol, defined in Key.h. This is both fast and cool: you can construct it from an int, and cast it to a strong. It also does type checking: a Symbol<Pose3,'x'> will not match a Symbol<Pose2,'x'>
4) minor: take a look at LieConfig.h: it help you avoid writing a lot of code bu automatically creating configs for a certain type. See e.g. Pose3Config.h. A "double" LieConfig is on the way - Thanks Richard and Manohar !
2010-01-13 22:25:03 +00:00
4369cd2d92
1) add a compose function that compose all the poses in a factor graph given the spanning tree
...
2) add a new graph-inl.h which takes care of all the boost graph related functions to prevent the copy and paste across several classes
2010-01-12 16:12:25 +00:00
fcb7c024a7
bearing functions and derivatives
2010-01-12 02:10:42 +00:00
d11b2e6bd5
Added omitted headers
2010-01-10 18:37:55 +00:00
88ae5380a8
Removed Vector-specific versions of NumericalDerivative, instead Vector is now a Lie object
2010-01-10 18:23:47 +00:00
1a96ef41cf
Created Pose3Config, Pose3Graph, and tested loop closure optimization.
2010-01-10 18:21:20 +00:00
65e4dc1342
pose2Circle
2010-01-10 15:46:18 +00:00
4fa53a1f79
Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function.
2010-01-10 06:35:16 +00:00
2b82ff65e7
Deriving Lie objects from a base class Lie<T>, which provides member functions to access global functions, for use in MATLAB.
2010-01-09 23:15:06 +00:00
5dc237eeea
BetweenFactor is a template that models the measurement between two Lie types e.g. Pose2 or Pose3. Pose2Factor and Pose3Factor are now simply typedefs.
2010-01-08 15:32:45 +00:00
19a3e228d7
Large refactoring - made several Lie group functions global, which used to be member functions, to treat Lie groups more uniformly. Also created Lie.h, and a preprocessor flag in numericalDerivative to change the coordinate frame derivatives are reported in. gtsam and easylib build and pass unit tests, but this will probably break other projects, which will require a few small changes to work again. Email coming in a few minutes to describe the changes.
2010-01-08 00:40:17 +00:00
20c6f29823
Moved control-related components to separate library
2010-01-06 20:01:34 +00:00
cade0e7780
fix timing test linking problem by using noinst_PROGRAMS
2010-01-03 00:23:16 +00:00
68159fb5e4
corrected SubgraphPreconditioner case
2010-01-02 20:24:59 +00:00
f82b46f96c
Sped up rodriguez and replaced slow implementation with call to fast implementation. Also moved some functions to cpp.
2010-01-02 14:28:18 +00:00
a1c55b9f62
Updated Pose2Config to expected coding standard
2010-01-02 10:33:33 +00:00
ff06cd757f
moved all "Urban" factors and tests to (cmake-based) CitySLAM project
2009-12-31 16:54:23 +00:00
Alex Cunningham
Frank Dellaert
Manohar Paluri
Kai Ni
Richard Roberts
Chris Beall