Richard Roberts
|
ecb24ebd06
|
Fixes to include path ordering and boost libraries
|
2013-07-09 15:43:55 +00:00 |
Alex Cunningham
|
f3aa2fde53
|
Fixed compile error
|
2013-06-25 17:22:45 +00:00 |
Frank Dellaert
|
0837eab8f5
|
Scripts to test (still not working so-well) smart range factor
|
2013-06-25 17:13:02 +00:00 |
|
Richard Roberts
|
26df712592
|
Put new unit test global variables into anonymous namespaces. Removed dll export tag from SmartRangeFactor since it is a header-only class.
|
2013-06-24 19:30:00 +00:00 |
|
Frank Dellaert
|
39910717d6
|
Picked the winner
|
2013-06-24 16:25:02 +00:00 |
|
Frank Dellaert
|
34db300802
|
Fixed n<3 Jacobians
|
2013-06-24 16:18:48 +00:00 |
|
Frank Dellaert
|
3383e52c5f
|
Split unit tests....
|
2013-06-24 16:02:17 +00:00 |
|
Frank Dellaert
|
43fe036c32
|
Made more efficient by adding errors -> Jacobians back to 1*3, always. This is big savings if a landmark is seen from many poses.
|
2013-06-24 15:57:03 +00:00 |
|
Frank Dellaert
|
aea4f31096
|
Fixed Jacobians, optimization works
|
2013-06-24 15:31:13 +00:00 |
|
Frank Dellaert
|
b7dbcefa8b
|
simplified measurements_ to vector
|
2013-06-24 12:15:01 +00:00 |
|
Frank Dellaert
|
4b412b0a4b
|
keys and Jacobians
|
2013-06-24 12:07:21 +00:00 |
|
Frank Dellaert
|
40bc7070ff
|
Example in unstable, to use SmartRangeFactor
|
2013-06-24 12:06:47 +00:00 |
|
Frank Dellaert
|
d041c5b8a8
|
Split up circle intersection code into three routines that are used in SmartRangeFactor
|
2013-06-24 08:24:56 +00:00 |
|
Frank Dellaert
|
5f5e481394
|
AHRS mechanization small efficiency change (in progress)
|
2013-06-21 00:21:18 +00:00 |
|
Alex Cunningham
|
e7334b89bd
|
Rebasing...
|
2013-06-20 17:08:30 +00:00 |
|
Richard Roberts
|
5ae4f21517
|
Added missing dll export tags to new functions
|
2013-06-20 16:05:23 +00:00 |
|
Alex Cunningham
|
456d1b5cf7
|
Cleanup: moving old serialization function to gtsam_unstable, renaming matlab serializaion test
|
2013-06-19 17:50:09 +00:00 |
|
Alex Cunningham
|
45b5389f8a
|
Serialized more classes in gtsam and gtsam_unstable
|
2013-06-19 17:50:07 +00:00 |
Kyel Ok
|
d85c773f7c
|
Changes in AHRS - flat trim initialization added, some comments by Frank, aidingAvailablitiy function
|
2013-06-14 21:18:22 +00:00 |
|
Alex Cunningham
|
9e3bfdc4f8
|
comments only
|
2013-06-11 14:36:54 +00:00 |
|
Alex Cunningham
|
083e0c849e
|
Switched to templated version of liquefy() to allow for use with non-default clique types
|
2013-06-11 14:36:53 +00:00 |
|
Alex Cunningham
|
83a1483e9f
|
Adding unit tests and a bugfix for liquefying bayes tree function
|
2013-06-11 14:36:52 +00:00 |
|
Alex Cunningham
|
361682c485
|
Working on a test for liquefy
|
2013-06-11 14:36:51 +00:00 |
|
Frank Dellaert
|
ebcc638ef5
|
renamed dist to distance (dist still works but now deprecated)
|
2013-06-05 16:11:36 +00:00 |
|
Richard Roberts
|
b2d4469cb3
|
Added missing export tag
|
2013-06-04 17:34:02 +00:00 |
Stephen Williams
|
1e5f9c742d
|
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.
|
2013-05-22 00:05:03 +00:00 |
|
Stephen Williams
|
8e26da7396
|
Added matlab version of the Concurrent Filtering and Smoothing example
|
2013-05-21 21:07:45 +00:00 |
|
Stephen Williams
|
5f371a4e55
|
Modified Concurrent Filter to calculate marginals using a "shortcut"
that allows constant-time updates during synchronization. Still need to
test implementation.
|
2013-05-21 21:07:43 +00:00 |
|
Richard Roberts
|
16c11c70fb
|
Fixes to compile on Windows
|
2013-05-21 17:24:49 +00:00 |
|
Stephen Williams
|
13d3f1cb6e
|
Updated Fixed-Lag smoother example
|
2013-05-21 14:57:40 +00:00 |
Duy-Nguyen Ta
|
77c2e37a4d
|
remove unused debug variables
|
2013-05-21 00:03:05 +00:00 |
|
Frank Dellaert
|
03977ba628
|
Added wrapping of AHRS
|
2013-05-20 23:28:38 +00:00 |
|
Frank Dellaert
|
1d9000724d
|
Moved AHRS to gtsam_unstable
|
2013-05-20 23:16:44 +00:00 |
|
Stephen Williams
|
1c5061cf3c
|
Added optional flag to ConcurrentBatchFilter to control relinearization
during syncs.
|
2013-05-17 08:06:06 +00:00 |
|
Alex Cunningham
|
d4ec018d0f
|
Added constructors to Point2Vector
|
2013-05-13 20:48:09 +00:00 |
|
Richard Roberts
|
50866b9a0e
|
Partial fix for compiling statically on Windows
|
2013-05-13 18:04:36 +00:00 |
|
Stephen Williams
|
7d03d3c502
|
Moved pre-sync code to the update() call for the cuncurrent smoother
|
2013-05-09 18:59:22 +00:00 |
|
Stephen Williams
|
93149ae5f2
|
Updated Concurrent example, forcing a call to smoother.update() between
each synchronization
|
2013-05-09 18:59:20 +00:00 |
Chris Beall
|
7ad3de6bc0
|
documentation
|
2013-05-08 20:10:49 +00:00 |
|
Chris Beall
|
32b3eebf07
|
removed redundant shared_ptr typedefs in Cal3_S2 and Cal3_S2Stereo
|
2013-05-08 19:21:00 +00:00 |
|
Stephen Williams
|
9e39df6e88
|
Added PriorFactor and BetweenFactor with optional sensor pose
transformations. Ideally these should simply be the PriorFactor and
BetweenFactor, but more investigation is needed.
|
2013-05-08 13:23:56 +00:00 |
|
Stephen Williams
|
f68e301458
|
Wrapped Inverse Depth Factor variants
|
2013-05-08 13:23:39 +00:00 |
|
Stephen Williams
|
54808f6d44
|
Added several experimental versions of an Inverse Depth Factor
|
2013-05-08 13:23:35 +00:00 |
|
Alex Cunningham
|
acd6e629e8
|
Moved older functions back to gtsam_unstable, cleanup. All tests pass. Rearranged summarization wrap interfaces.
|
2013-05-08 10:13:57 +00:00 |
|
Alex Cunningham
|
81f63bcc0e
|
Rearranging summarization, now with unit test in gtsam
|
2013-05-08 10:11:45 +00:00 |
|
Stephen Williams
|
36e66b2f0b
|
Fixed synchronization code in ConcurrentBatchFilter such that an empty graph does not trigger a segfault
|
2013-05-01 20:54:53 +00:00 |
|
Duy-Nguyen Ta
|
444ab957c4
|
a numerical derivative version for DiscreteEulerPoincare'Factor, but currently disabled.
|
2013-05-01 17:30:21 +00:00 |
|
Alex Cunningham
|
62f6089119
|
Updated matlab wrapping for moved factors
|
2013-04-30 17:50:48 +00:00 |
|
Alex Cunningham
|
a069d24374
|
Moved PoseRotationPrior, PoseTranslationPrior and ReferenceFrameFactor to gtsam.slam
|
2013-04-30 17:50:47 +00:00 |
|
Duy-Nguyen Ta
|
84ababc653
|
wrap SimpleHelicopter factors and fix a bug in noisemodel dimension
|
2013-04-30 17:21:42 +00:00 |
|
Duy-Nguyen Ta
|
26c63ec122
|
increase tolerance in TEST( testPoseRTV, Lie )
|
2013-04-29 23:35:08 +00:00 |
|
Duy-Nguyen Ta
|
e4a9c398c8
|
Factor for Discrete Euler Poincare' equation in SE3 for Simple Helicopter dynamics with correct dertivatives
|
2013-04-29 17:21:13 +00:00 |
|
Alex Cunningham
|
224be276e4
|
Added a new summarization convenience function and cleaned up documentation
|
2013-04-26 18:27:22 +00:00 |
|
Alex Cunningham
|
2b7d173c22
|
Added include path for generated headers when wrapping
|
2013-04-25 18:24:41 +00:00 |
|
Stephen Williams
|
009012005e
|
Removed VariableIndex from the class members as it was often left in an inconsistent state
|
2013-04-25 18:12:05 +00:00 |
|
Stephen Williams
|
1e1dfdd808
|
Updated BatchFixedLagSmoother to use the latest version of optimization and marginalization code
|
2013-04-25 18:10:21 +00:00 |
|
Richard Roberts
|
eeef9eab32
|
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.
|
2013-04-25 15:57:15 +00:00 |
|
Richard Roberts
|
5f3238634d
|
Added missing GTSAM_UNSTABLE_EXPORT tag
|
2013-04-25 15:57:06 +00:00 |
|
Alex Cunningham
|
38af960c53
|
removed commented line
|
2013-04-24 17:34:49 +00:00 |
|
Alex Cunningham
|
1c17065376
|
Removed unnecessary templated traits from partial pose priors - now uses rotationInterval and translationInterval
|
2013-04-24 17:34:48 +00:00 |
|
Richard Roberts
|
124a38f72d
|
Made unit test local vars/functions in anonymous namespace
|
2013-04-22 17:44:09 +00:00 |
|
Duy-Nguyen Ta
|
cde44b2952
|
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.
|
2013-04-22 08:34:40 +00:00 |
|
Stephen Williams
|
c1f14d60be
|
Purged unused code
|
2013-04-19 12:16:18 +00:00 |
|
Stephen Williams
|
201ca3da9e
|
Removed debug print statement
|
2013-04-19 12:16:04 +00:00 |
|
Stephen Williams
|
3eade960b8
|
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.
|
2013-04-19 12:13:43 +00:00 |
|
Duy-Nguyen Ta
|
541d416c84
|
comment for VelocityConstraint3::evaluateError
|
2013-04-17 21:25:15 +00:00 |
|
Duy-Nguyen Ta
|
494885bf1d
|
factors for the pendulum discrete mechanics in position-momentum form to use with variational integrator
|
2013-04-16 19:07:59 +00:00 |
|
Duy-Nguyen Ta
|
37d244e49b
|
fix bug in PendulumFactor2's jacobian
|
2013-04-16 02:17:19 +00:00 |
|
Duy-Nguyen Ta
|
6a139bd0f8
|
Factors for the simple Pendulum dynamics for being used with explicit/implicit/sympletic Euler integrators as in [Stern06siggraph]
|
2013-04-15 21:31:47 +00:00 |
|
Stephen Williams
|
c2fb82b935
|
Added matlab wrapping for Fixed-Lag Smoothers and Concurrent Filters and Smoothers
|
2013-04-15 19:54:46 +00:00 |
|
Stephen Williams
|
f216e97a15
|
Modified the getter method in the FixedLagSmoother base class to follow general GTSAM conventions
|
2013-04-15 17:53:33 +00:00 |
|
Stephen Williams
|
41238572c1
|
Extended the Concurrent Filtering and Smoothing example to include a delayed loop closure
|
2013-04-15 16:07:40 +00:00 |
|
Stephen Williams
|
693a0f991a
|
Added the Filter<->Smoother synchronization back into the example
|
2013-04-12 13:05:52 +00:00 |
|
Stephen Williams
|
f3007f5013
|
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.
|
2013-04-12 13:05:20 +00:00 |
|
Stephen Williams
|
34d7742d95
|
Added first version of a Concurrent Filtering and Smoothing example
|
2013-04-12 12:53:34 +00:00 |
|
Stephen Williams
|
03db2b7e55
|
Modified comments
|
2013-04-12 12:53:05 +00:00 |
|
Stephen Williams
|
460a428c97
|
Provided default parameters for concurrent batch filter and smoother constructors
|
2013-04-12 12:52:29 +00:00 |
|
Stephen Williams
|
1c738123b9
|
Fixed inconsistency between odometry measurements and initializations
|
2013-04-12 12:51:22 +00:00 |
|
Stephen Williams
|
5087e4eabc
|
Modified Fixed-Lag Smoothing example to call iSAM2 multiple times to recover the same solution as batch
|
2013-04-11 21:10:32 +00:00 |
|
Stephen Williams
|
321de2f701
|
Removed debugging check from IncrementalFixedLagSmoother and added work around for tree reordering
|
2013-04-11 20:55:55 +00:00 |
|
Stephen Williams
|
c902908115
|
Added 'examples' folder to gtsam_unstable
|
2013-04-11 20:47:25 +00:00 |
|
Stephen Williams
|
95e97c2dfc
|
Changed the default 'enforceConsistency' flag to true in the Batch Fixed-Lag Smoother to match the incremental version
|
2013-04-11 20:07:58 +00:00 |
|
Stephen Williams
|
d44a9e3b75
|
Removed unused code from Concurrent Batch Filter unit test
|
2013-04-11 19:16:52 +00:00 |
|
Stephen Williams
|
f963aeb401
|
Completed rewrite of synchronization functions for the Concurrent Batch Filter
|
2013-04-11 19:16:15 +00:00 |
|
Stephen Williams
|
04d595dec1
|
Started re-implementing the synchronization functions for the Concurrent Filter
|
2013-04-11 12:43:42 +00:00 |
|
Stephen Williams
|
634a4c5ef9
|
Updated Concurrent Smoother for changes in the base class synchronization
|
2013-04-11 12:42:45 +00:00 |
|
Stephen Williams
|
0a459549f8
|
Updated synchronization interface to require the smoother and filter to track their own separator keys and values
|
2013-04-11 12:42:09 +00:00 |
|
Duy-Nguyen Ta
|
08e6d8860b
|
wrap VelocityConstraint3
|
2013-04-11 12:07:42 +00:00 |
|
Duy-Nguyen Ta
|
72325d673d
|
simple 3-way factor velocity constraint with LieScalar
|
2013-04-10 22:02:21 +00:00 |
|
Stephen Williams
|
1952337e23
|
Removed unused code from Concurrent Batch Smoother
|
2013-04-10 21:08:52 +00:00 |
|
Stephen Williams
|
dce575cb73
|
Refactored synchronization code for Concurrent Batch Smoother
|
2013-04-10 15:22:28 +00:00 |
|
Stephen Williams
|
e4b452473e
|
Removed variable index from equal test in ConcurrentBatchFilter
|
2013-04-10 15:21:50 +00:00 |
|
Stephen Williams
|
5cd020080b
|
Added marginalization code and unit tests to ConcurrentBatchFilter
|
2013-04-10 12:47:55 +00:00 |
|
Stephen Williams
|
ed560aa13a
|
Updated unit tests for changes in the Concurrent Filtering and Smoothing classes. Currently the synchronization tests are disabled.
|
2013-04-09 21:48:48 +00:00 |
|
Stephen Williams
|
0b5c07e543
|
Starting to clean up and refactor the Concurrent Filtering and Smoothing classes. Currently the synchronization is disables, as is the marginalization in the filter.
|
2013-04-09 21:24:05 +00:00 |
|
Richard Roberts
|
35cebaa873
|
Moved inertial nav factors and unit tests to gtsam/navigation
|
2013-04-09 20:04:10 +00:00 |
|
Richard Roberts
|
b68fee7b00
|
Fixed bug in hessian_equal in testConcurrentBatchFilter
|
2013-04-09 19:53:59 +00:00 |
|
Stephen Williams
|
ed90b00edf
|
Updated ConcurrentBatchSmoother to use LinearContainerFactors
|
2013-04-09 15:48:53 +00:00 |
|
Stephen Williams
|
4f064be4fa
|
Updated synchronization code for CConcurrent Filter
|
2013-04-09 15:39:24 +00:00 |
Vadim Indelman
|
244ea20f9c
|
Clean-up.
|
2013-04-08 22:49:55 +00:00 |