ebae189c7b
Re-ordered functions to minimize diff
2019-06-03 16:06:09 -04:00
18553feb03
Recalculate now removes top
2019-06-03 14:57:25 -04:00
3ab9a1e3cc
Made detail handling more explicit in update
2019-06-03 14:12:10 -04:00
a9e955d56e
using rather than typedef
2019-06-03 12:33:23 -04:00
3b51bae5c1
made markedKeys explicit
2019-06-03 12:33:05 -04:00
1757198463
Moved recalculate back to iSAM2.cpp
2019-06-02 01:51:14 -04:00
1a29ab5533
Refactored iSAM2::update to reveal what is changed when
2019-06-01 17:34:24 -04:00
d6b2429471
better docs and variable names
2019-05-28 23:33:47 +02:00
17edca2426
Alternative ISAM2::update() signature, easier to extend.
...
The old update() method still exists and calls the new one.
The idea is that by using a struct, it is easier (i.e. API/ABI
compatibility) to add the new parameters that we will need to add next.
2019-05-27 12:18:17 +02:00
b2e5dadcdb
Merge branch 'develop' of https://bitbucket.org/gtborg/gtsam into fix/trailing_whitespaces
...
# Conflicts:
# gtsam/symbolic/tests/testVariableIndex.cpp
# gtsam_unstable/gtsam_unstable.h
# gtsam_unstable/linear/RawQP.cpp
# gtsam_unstable/linear/RawQP.h
2019-05-12 09:26:28 -04:00
285ebd7dbd
Type for Factor indices, dual to "Key"
...
This avoids a couple of confusing uses of KeySet to refer to lists of
Factors, and makes code more readable where formerly using size_t to
index factors.
2019-04-08 09:08:43 +02:00
1cdc228d6a
remove trailing spaces
2019-02-11 10:58:34 -05:00
2aa43e11bd
Use KeyVector everywhere to avoid conversions
2018-11-08 10:10:32 -05:00
2fe2f1ad19
input/output convention
2018-09-30 14:22:20 -04:00
d6edc217ab
Changed several Impl functions to methods in ISAM2 and ISAM2Clique
2018-09-30 14:11:00 -04:00
d401edc917
Split ISAM2 Clique, Params, and Result out in different files, cleaned up headers, and removed ISAM2-inl.h header
2018-09-30 12:58:48 -04:00
7fd8bc1bf5
Restored non-recursive version, disabled solution pointers back-substitute.
2018-09-30 11:19:25 -04:00
ba64402985
Added fastBackSubstitute method
2018-09-30 10:47:32 -04:00
5223713c18
Use VectorValues::vector rather than bespoke code for saving delta values.
2018-09-30 10:30:27 -04:00
a31294d777
Modernized, cleaned up, and turned off non-recursive version (fow now) because it has a bug.
2018-09-29 17:52:20 -04:00
e6c0d7334f
Cleaned up cpplint errors - no functionality change
2018-09-29 00:06:19 -04:00
a0661b3813
Almost done. Still need to figure out how to remove the remaining 3 occurrences.
2016-05-21 12:44:46 -04:00
fad9462661
A better solution through typedef of FactorIndices -> FastVector<size_t>
2016-02-25 23:51:01 -08:00
64aae16b3c
Fixed problem with wrapping iSAM by a hack: made vector<size_t> into KeyVector. This is not a long-term solution: we should enable wrapping of vector<T>.
2016-02-25 22:07:04 -08:00
0372a959ee
Many small improvements, bug-fixes, and tests
2016-02-24 11:01:19 -08:00
128bac616c
Globally replaced FastSet<Key> with KeySet.
2015-06-20 18:38:25 -07:00
13a4da21b2
misc bugfixes and cleanup from skydio
2015-05-13 22:26:24 -07:00
ebf5746987
Fix some serialization warnings.
2015-03-06 16:12:09 +01:00
e5017984a1
traits_x -> traits
2014-12-26 16:47:51 +01:00
79d8514528
MASSIVE edit: made Testable its own concept, and moderinized Testable.h to use Testable traits. This required adding Testable traits in many classes.
2014-12-21 22:02:57 +01:00
f9ca07e610
Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax
2014-11-23 10:22:25 -08:00
aa093a35da
Updated all comma initializer usages to use .finished()
2014-11-22 16:35:27 -08:00
cb3cec3789
Replaced static variable counter inside ISAM2 update() with a member variable to avoid a bug where if multiple instances of ISAM2 are running in the same process, the counter gets incremented in each of them, resulting in very difficult to debug failures.
2014-03-27 16:15:29 -04:00
7192bd2f79
Removed namespace-functions for ISAM2 optimize* and gradient*, these were only there to try to maintain a consistent interface for linear but really were not correct anyway since ISAM2 is a nonlinear object. They instead caused confusion and made the code complicated since they used a complicated system for updating and caching various components that go into calculating the solution. Replaced all this with much simpler code directly inside updateDelta, which uses clearly-defined functions in the ISAM2::Impl class to calculate the components that go into the solution. Also removed the redundant deltaUpToDate flags - now just checks whether deltaReplacedMask is empty.
2014-02-22 16:46:38 -05:00
7efe7cefca
Removing unimplemented method optimize()
2014-02-18 18:24:27 -05:00
90786c0203
fix Vector_() in rest of gtsam folder
2014-01-23 01:44:55 -05:00
686051c032
Convert DOS line endings to UNIX
2014-01-09 16:39:27 -05:00
fa5d08d9a6
Option to reuse old factor slots in ISAM2
2013-11-18 19:23:09 +00:00
5f2a4e0dc6
Changed remaining Index to Key
2013-09-20 15:25:11 +00:00
2d554a7b77
Made functions virtual to allow for overriding
2013-09-05 20:01:11 +00:00
f9eb5b6e2c
Small data structure change in ISAM2::getAffectedFactors for a speedup
2013-08-14 19:28:45 +00:00
7d2f3e69b5
First pass at solution pointer caching in ISAM2 wildfire
2013-08-14 19:25:01 +00:00
46beb6c6a4
Re-added ISAM2::marginalizeLeaves optional output arguments from Steves changes in r18185
2013-08-14 15:21:10 +00:00
c2284a3d6b
Changed FastVector to vector in GFG and ISAM2
2013-08-12 18:21:23 +00:00
4585fd1caa
Merge branch 'svn/trunk'
...
Conflicts:
gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp
gtsam/nonlinear/ISAM2.cpp
gtsam/nonlinear/ISAM2.h
gtsam/slam/tests/testBetweenFactor.cpp
gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
gtsam_unstable/slam/SmartProjectionFactor.h
2013-08-11 18:16:56 +00:00
4e2f2c3822
Changed public back to protected
2013-08-11 00:40:12 +00:00
f9de5838f6
Added optional return information to the 'marginalizeLeaves' method of
...
iSAM2
2013-08-10 17:16:10 +00:00
485624f8d6
Added access to the set of fixed variables (the variables involved in
...
linear marginal factors) from iSAM2
2013-08-10 17:15:56 +00:00
63e89656d2
Temporary debugging for marginalizeLeaves
2013-08-10 15:52:00 +00:00
789f2bee97
ISAM2 compiling and fixed several issues but still some unit tests failing
2013-08-09 21:35:47 +00:00
Frank Dellaert
Jose Luis Blanco Claraco
Duy-Nguyen Ta
Duy-Nguyen Ta
Frank Dellaert
yao
Frank
Abe
Thomas Schneider
Richard Roberts
Alex Cunningham
cbeall3
jing
Alex Cunningham
Stephen Williams