dbe01bd0c8
simulated2D now allows for custom variable types (as long as they are still Point2)
2010-09-27 18:46:13 +00:00
5745226452
split LinearApproxFactor into an implementation header file
2010-09-22 15:34:03 +00:00
b09b7fffbb
Removed extraneous template parameter for LinearApproxFactor
2010-09-22 13:29:29 +00:00
a10a5a7ee5
Commented out failing tests for GaussianISAM2, as this compile error keeps the rest of the tests from running
2010-09-16 17:04:55 +00:00
872ef5fe05
added statistics for evaluation, disabled timing
2010-09-12 15:43:24 +00:00
64467634e3
fixed wildfire/backsubstitution, execution much faster now even with very low threshold
2010-09-12 05:14:21 +00:00
55dedc97e3
Fixed include paths so that making individual unit tests works again
2010-09-11 16:54:50 +00:00
b825655ba6
update+relin combined for speed; new backsub/threshold confirmed to yield correct result
2010-09-09 23:54:39 +00:00
f8cf500aff
bug fix in wildfire alg; more stats
2010-09-09 19:17:17 +00:00
e86c9465bb
calculating the number of nonzero entries in R corresponding to the Bayes tree
2010-09-06 20:34:59 +00:00
d17aef492c
Added two example scripts to gtsam from the tutorial, with a single planar example that either contains all typedefs and manually creates the structure, and another that uses planarSLAM.h. Also added a BearingRange helper function to planarSLAM
2010-08-26 21:21:15 +00:00
23a30f8475
Removed remaining global lie functions on lie objects and configs, switched the Lie base class to a simple concept check function, fixed build script for examples. ISAM2 and MastSLAM verified as compiling.
2010-08-26 19:55:40 +00:00
eed13e48d2
Switched to using LieVectors for vector types. Still some problems with numericalDerivative that have been worked around, but other functionality is intact.
2010-08-24 17:26:56 +00:00
77eda5ab8c
In all nonlinear factors and configs, it is only necessary to specify a key with a typedef Value_t for the associated value. This has been removed from factor template definitions, as it is too easy to use the wrong value. Also, no more string keys or linear symbol keys in nonlinear systems. Updated MastSLAM to work, and ISAM2 works without change
2010-08-23 19:44:17 +00:00
458cc52fff
Switched geometry to use primarily member functions for calculations with optional derivatives, so there are no more optional derivative functions. Also split Vector specializations for Lie into gtsam/base/LieVector.h which will later change into a real wrapper function. Specialized numericalDerivative to allow for functions to return doubles. Projects ISAM2, MastSLAM updated.
2010-08-22 21:45:53 +00:00
256697d345
Moved transform_[to|from] and [un]rotate to be static functions in classes
2010-08-20 21:47:30 +00:00
9367170fe5
Fixed references to dimension static member variables in constraints
2010-08-19 21:29:43 +00:00
8e364cb34e
Improvements to the Lie objects, with new member/static functions in most of the geometry objects. Many of the functions that were previously global have been moved to static functions. See Lie.h for more details.
2010-08-19 20:03:06 +00:00
f1132359d4
Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs)
2010-08-19 17:23:19 +00:00
5991d1edfd
Added a nonlinear factor to approximate a linear factor from MastSLAM
2010-08-10 16:59:22 +00:00
1c72d92365
Moved TransformConstraint into gtsam, cleaned up includes
2010-08-10 14:30:41 +00:00
4f9a60d41c
Nonlinear bounding constraints are now working for simple examples. Also, removed extraneous constraint test files.
2010-08-09 21:59:29 +00:00
efaca162cf
Added tests for nonlinear equality constraints, generalized equality constraints
2010-08-09 17:21:11 +00:00
5ada49ea3a
Moved remaining equality constraint tests to testNonlinearEqualityConstraint. Added NonlinearEquality2, a binary constraint expressing exact equality between variables.
2010-08-06 20:07:55 +00:00
a55860eb1d
Reimplemented nonlinear constraints to remove the old dependency on using boost function pointers and allow for inequality and bounding constraints. Added simple equality constraints in simulated2D and new set of tests. Removed/disabled old tests until they can be worked into new structure.
2010-08-06 18:30:07 +00:00
27c009d792
Added new constructors for PlanarSLAM graphs
2010-07-30 17:07:10 +00:00
bde73355b8
fixed duplicated symbols between simulated2D and planarSLAM
2010-07-20 14:38:27 +00:00
d938f92844
Replaced instances of PairConfig with TupleConfig2, cleaned up documentation on TupleConfigs
2010-07-19 19:55:24 +00:00
3438f89526
Removed the ldl library and added in a configure flag --enable-ldl to pull in ldl. Currently, it's probably a bad idea to actually use ldl, however, and nothing important is effected by its absense.
2010-07-16 18:16:18 +00:00
f0b424a3d1
Moved tests and timing scripts into subfolders
2010-07-16 17:10:16 +00:00
89061cd953
proper covariance for 10K2 dataset
2010-07-15 04:41:17 +00:00
3245bad2aa
add another W-10000 data set from HOG-Man release. I named it as "10K2" dataset
2010-07-14 20:13:36 +00:00
30b377e441
Fix makefiles to refer to $(top_srcdir) to enable parallel build
2010-07-13 19:13:07 +00:00
559eaf8cc1
Moved smallExample to slam, as used in some project unit tests as well. [tests] no longer builds a local library as a consequence.
2010-07-13 05:26:19 +00:00
8ce5e321c8
Last part of re-organization for now: all things linear/Gaussian are now in the "linear" sub-directory.
2010-07-12 22:18:38 +00:00
c9db61e137
Newly functional build: second part of re-organization. cpp now split into inference and nonlinear.
2010-07-12 16:36:58 +00:00
80149afc30
delete Makefile.ins
2010-07-12 07:48:26 +00:00
fea5beb638
Re-organization: moving all files.
...
I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests.
cpp will be further renamed/sub-divided and contains the core library.
I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 07:16:31 +00:00
Alex Cunningham
Michael Kaess
Richard Roberts
Kai Ni
Frank Dellaert