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364 Commits (6e2312294cf22e86d9237dba756256e5577e45f7)

Author SHA1 Message Date
Richard Roberts 67564d043b LevenbergMarquardtOptimizer in progress 2012-02-28 01:17:42 +00:00
Alex Cunningham b5bb607a44 Added constructors to Values from filtered views 2012-02-27 21:05:05 +00:00
Alex Cunningham 6088d5cee8 Fixed Key test by adding EXPECT to otherwise naked assert_equal statements 2012-02-27 03:48:16 +00:00
Richard Roberts e7e64e945b GaussNewtonOptimizer, started LevenbergMarquardtOptimizer 2012-02-27 01:18:36 +00:00
Richard Roberts 0309b6b184 (in branch) NonlinearOptimizer base class 2012-02-26 02:44:58 +00:00
Richard Roberts ba5bb0298d Changed list back to FastList, accidently left from debugging 2012-02-26 01:50:32 +00:00
Richard Roberts 12775256c1 Fixed compile problem with gcc and bug fix in int key <-> Symbol encoding 2012-02-24 23:38:51 +00:00
Richard Roberts 4d117037a5 Merging 2.0_prep branch into trunk, with dynamic Value and Values class, integer nonlinear keys, key print formatters, and new CMake build process. 
Merge commit '2cf01d1ca075a3da909a10c58acb2792b62f6456' into trunk

Conflicts:
	.gitattributes
	.gitignore
	gtsam/slam/GeneralSFMFactor.h
	tests/CMakeLists.txt
 2012-02-24 21:09:20 +00:00
Richard Roberts 84f5d87b52 Reworked Values filtering to use boost range, so much less code and simpler syntax 2012-02-24 16:45:48 +00:00
Alex Cunningham 59b1197c9f Back-ported cmake from the 2.0prep branch 2012-02-24 15:53:50 +00:00
Chris Beall e7562ac07f added timing instrumentation 2012-02-23 04:17:17 +00:00
Richard Roberts 1d0aaacbd6 Removed use of GTSAM_MAGIC_KEY for constructing Symbols from strings 2012-02-22 23:38:09 +00:00
Alex Cunningham 565185da02 Added cmake targets, expanded on the Values filtering test 2012-02-22 15:58:06 +00:00
Richard Roberts 29d787a0ad Added Values filtering by key test and Value type 2012-02-21 22:18:39 +00:00
Richard Roberts a3797e3cdb Int keys with formatter objects, all unit tests pass 2012-02-21 00:53:35 +00:00
Richard Roberts 0a81c4e57a Renamed NonlinearFactor[1-6] to NoiseModelFactor[1-6] 2012-02-20 21:52:47 +00:00
Richard Roberts 3bd1aa13fc Started print formatter 2012-02-20 17:02:59 +00:00
Richard Roberts 0592b71ac4 Switched Values, Ordering, and factors to int 'Key' instead of 'Symbol', 
still more code changes required to compile
 2012-02-19 01:02:07 +00:00
Alex Cunningham 23971aa044 Added macros to remove copy/paste in cmake. Added support for building without convenience libraries. 2012-02-14 20:00:42 +00:00
Alex Cunningham 0409c1c7ee Adding faster compilation options for distribution in CMake 2012-02-14 18:03:29 +00:00
Alex Cunningham 6f09998e10 Removed autotools from gtsam2 branch 2012-02-13 21:13:07 +00:00
Richard Roberts 0ae4a3f66b Removed unused tuple constructor helper from NonlinearFactor 2012-02-13 20:27:56 +00:00
Richard Roberts 75428b13fe Revert "Using FastVector instead of vector in most code called during elimination and solving" 
This reverts commit 566631cb42249cb710ef01d07d583e563afccea9.
 2012-02-13 20:27:54 +00:00
Richard Roberts 051c832737 Fixed compile errors with gcc 2012-02-13 19:09:00 +00:00
Alex Cunningham 3f2ec81e67 Fixing serialization test linking 2012-02-11 21:59:35 +00:00
Richard Roberts 75d95774e1 Removed duplicate header in Makefile.am 2012-02-10 20:43:00 +00:00
Richard Roberts 6a125ed5cb Added dim function and removed commented out code 2012-02-10 19:48:06 +00:00
Richard Roberts 263b50d85a Using FastVector instead of vector in most code called during elimination and solving 2012-02-10 15:56:01 +00:00
Richard Roberts 669c7c8dc8 Split up serialization unit tests into subdirectories to speed up 2012-02-08 21:53:02 +00:00
Richard Roberts 3d40f5e6fc All unit tests pass with TypedSymbol removed 2012-02-07 04:58:11 +00:00
Richard Roberts 2f7f535f34 All unit tests pass with nonlinear factors templated on value instead of key 2012-02-07 04:02:20 +00:00
Richard Roberts eaa9e4d739 Continuing changes from templating NonlinearFactors on value instead of key 2012-02-06 23:32:59 +00:00
Richard Roberts 811be62ed3 Working on templating factors on Value type instead of key type 2012-02-06 00:44:25 +00:00
Duy-Nguyen Ta 71e757d2cf fix typo in "newDrecreaseThresholds" in NonlinearOptimizationParams 2012-02-05 23:00:57 +00:00
Richard Roberts b849fbec16 Fixed compilation errors 2012-02-03 22:23:41 +00:00
Richard Roberts 3d9e818d1e (2.0_prep branch) Merged in additional changes from virtual_values branch r8901-r8902 2012-02-03 17:20:23 +00:00
Richard Roberts 820b33bd55 (2.0_prep branch) Merged in virtual_values branch 2012-02-03 17:18:32 +00:00
Richard Roberts 4b2b9d8158 Fixed Values iterators and removed apply function 2012-02-02 22:06:33 +00:00
Richard Roberts 26cdf28421 Renamed DynamicValues to Values and removed specialized derived Values classes 2012-02-02 16:16:46 +00:00
Richard Roberts f3a3f8ebf6 Comment fix 2012-02-02 15:41:18 +00:00
Alex Cunningham c43a9b4852 Added a variety of options to the cmake build, working on automating wrap execution/install 2012-01-31 19:59:15 +00:00
Alex Cunningham 927ac34014 Now builds full gtsam library 2012-01-31 05:27:58 +00:00
Alex Cunningham a454d0cdf6 Rest of library and tests now build 2012-01-31 05:27:56 +00:00
Chris Beall aeeb35f7db added missing headers 2012-01-30 23:36:40 +00:00
Richard Roberts 51dca5b2d0 (in branch) Fixed Value base class assignment operator, ISAM2 expmap function, and unit tests 2012-01-30 21:23:02 +00:00
Duy-Nguyen Ta f86da6f983 testProjectionFactor and testVSLAM passed. Remaining unpassed tests: GaussianISAM2, NonlinearFactorGraph (colamd failed), SPCG 2012-01-30 16:46:36 +00:00
Duy-Nguyen Ta 98f2d47f58 most tests passed, except testPose2SLAMwSPCG, testGaussianISAM2, testNonlinearEquality, testNonlinearFactorGraph, testProjectionFactor, testVSLAM 2012-01-30 04:34:46 +00:00
Duy-Nguyen Ta 2db224df3c All compiled! Only SPCG and linear/SubgraphSolver are not fixed. 2012-01-29 22:10:35 +00:00
Duy-Nguyen Ta 5b5bbfdfff testSimmulated2D passes. Too many warnings in boost from clang! 2012-01-29 21:12:58 +00:00
Alex Cunningham 67aa0bf63d Fixed compile problems with NonlinearOptimizationParameters, removed redundant typedef 2012-01-29 01:24:27 +00:00
Duy-Nguyen Ta d3d5ee3b39 [inprogress] switching to DynamicValues 2012-01-28 20:47:43 +00:00
Frank Dellaert c309047d7a print functions for use in MATLAB 2012-01-28 19:43:09 +00:00
Duy-Nguyen Ta ee0b7f8a74 remove VALUES in other classes. New testNonlinearFactor passed. 2012-01-27 23:00:29 +00:00
Duy-Nguyen Ta 79a3855316 testDynamicValues passed 2012-01-27 21:48:23 +00:00
Richard Roberts b3df8d336a For ASPN release, added temporary ENABLE_SPCG flag to avoid conflict with boost::variant 2012-01-27 16:43:31 +00:00
Richard Roberts 6dde91f636 More implementation for DynamicValues - switched to ptr_map 2012-01-27 15:34:54 +00:00
Richard Roberts a7a845a803 (in branch) Fixed some compile errors 2012-01-26 06:04:55 +00:00
Nick Barrash aa940ec8d0 added comment groups to some nonlinear classes 2012-01-23 20:16:59 +00:00
Richard Roberts 93f3411210 Made dogleg also use QR when useQR is true 2012-01-22 03:18:10 +00:00
Richard Roberts f76c7be5b2 (in branch) more implementation for DynamicValues 2012-01-20 16:26:45 +00:00
Richard Roberts 64703d09da (in branch) more implementation for DynamicValues and unit tests 2012-01-18 14:37:41 +00:00
Frank Dellaert 56c3953305 added print 2012-01-17 19:25:05 +00:00
Richard Roberts 9cdb1e08fe (in branch) more implementation for DynamicValues 2012-01-16 22:54:19 +00:00
Alex Cunningham 1e693595fd Additional typedef 2012-01-16 15:19:05 +00:00
Richard Roberts d323d5b963 (in branch) more implementation for DynamicValues 2012-01-15 23:06:01 +00:00
Richard Roberts ef8a82c8d7 (in branch) Added incomplete DynamicValues 2012-01-14 23:13:14 +00:00
Richard Roberts ca53ed5fb7 (in branch) Added incomplete DynamicValues 2012-01-14 23:12:59 +00:00
Richard Roberts a89d08ef30 Added groups to Values 2012-01-14 01:56:16 +00:00
Richard Roberts e0e3875ff9 Values and TupleValues throw error if attempting to insert the same key twice, also improved error handling with specific exception types. 2012-01-06 18:58:20 +00:00
Richard Roberts 7549bd3e78 Added per-variable-type and per-vector-element relinearization thresholds in iSAM2 2012-01-06 16:53:16 +00:00
Richard Roberts 18a1a98859 Ability to manually constrain specified variables to end of ordering in iSAM2 2012-01-03 19:14:00 +00:00
Richard Roberts 6c6409b81a Ability to remove factors from iSAM2 2012-01-03 17:50:48 +00:00
Richard Roberts 568cc7562b Removed unused argument from NonlinearFactorGraph::symbolic 2012-01-03 17:50:05 +00:00
Richard Roberts e0988ade11 Workaround for conflict between boost variant and graph in boost < 1.47 2011-12-22 17:29:00 +00:00
Richard Roberts ffcbcb703d Minimum trust region radius limit in Dogleg 2011-12-21 17:47:54 +00:00
Stephen Williams 7c87a4f58d Included the inline header at the bottom of SubgraphSolver, NonlinearFactorGraph, NonlinearOptimization, and NonlinearOptimizer. This avoids having to include the '-inl.h' in subsequent projects. 2011-12-20 23:25:43 +00:00
Richard Roberts d76176c544 Removed mistakenly left-in print statements 2011-12-18 15:34:23 +00:00
Richard Roberts b2f629ce39 Changed default parameter 2011-12-15 20:23:54 +00:00
Richard Roberts 64c0606f21 Merged incremental dogleg, updated ASPNtests and GeneralFlow projects for new ISAM2Params. Refactoring of BayesTree. Added many, but not all, #includes of -inl.h files at bottom of .h files, and removing includes of -inl.h files from .cpp files and other -inl.h files. 2011-12-15 20:14:21 +00:00
Richard Roberts 21140ea0d5 (in branch) incremental dogleg bug fix and unit test (wasn't computing Gauss-Newton point) 2011-12-15 15:37:52 +00:00
Richard Roberts f3de9e425f (in branch) first pass at Dogleg in ISAM2, bug(s) remaining 2011-12-15 00:08:57 +00:00
Richard Roberts 6e1136ba20 (in branch) Separate gradient functions for FactorGraph, BayesNet, BayesTree, and BayesTree with ISAM2 Cliques (specialized for using stored gradient contributions in ISAM2 cliques) 2011-12-13 22:51:28 +00:00
Richard Roberts 88c3e81a7d (in branch) bug fix and unit test in permutation bug introduced during BayesTree Clique refactoring 2011-12-13 18:46:31 +00:00
Richard Roberts 8d5facb09e (in branch) make check passes after refactoring and code changes for including -inl.h files from .h files 2011-12-12 23:19:31 +00:00
Richard Roberts 3b139cbae2 (in branch) Merged from trunk r7960-r8057 2011-12-12 16:03:52 +00:00
Duy-Nguyen Ta e036dd460e support cloning (deep copy) for ISAM2 2011-12-06 16:21:57 +00:00
Richard Roberts fd5b040385 (in branch) in progress refactoring for incremental dogleg 2011-12-05 02:28:09 +00:00
Richard Roberts a0abe68b64 (in branch) Merged from trunk r7760-r7959 2011-11-29 17:02:02 +00:00
Richard Roberts 7164a6d790 Stop from saying 'converged' and added nonlinear optimizer warnings (if verbose) if maximum iterations reached 2011-11-28 20:34:28 +00:00
Alex Cunningham 163e60d43d Fixed bug in add() - now finds the correct function 2011-11-18 17:08:24 +00:00
Alex Cunningham 8bc83d4219 Changed -inl.h use with Values and TupleValues, removed instantiation macros for Values and TupleValues 2011-11-17 22:44:46 +00:00
Alex Cunningham 96f77466c6 Removed need to include -inl.h for isam variants 2011-11-17 21:20:04 +00:00
Alex Cunningham ba22799b67 Removed unnecessary includes 2011-11-17 18:45:41 +00:00
Alex Cunningham b5e46e9b7c Added an optional template parameter to ISAM2 for a customized nonlinear factor graph 2011-11-17 18:15:41 +00:00
Alex Cunningham 6d961844c4 Added optional template parameter for NonlinearISAM to specify a specialized graph 2011-11-17 14:09:04 +00:00
Alex Cunningham f0b5e5ea3b Added Base and This typedefs to TupleValuesN 2011-11-16 19:05:51 +00:00
Richard Roberts 2f13d0b961 Added version of calculateEstimate(const KEY&) to calculate only a single variable 2011-11-15 17:06:34 +00:00
Richard Roberts 2c5135e5f9 Fixed bug in relinarized variable count 2011-11-14 21:39:42 +00:00
Richard Roberts e6a43d6330 (in branch) Dogleg in ISAM2 in progress 2011-11-12 21:19:46 +00:00
Alex Cunningham fc07fa4c35 Adding headers 2011-11-11 15:42:36 +00:00
Alex Cunningham 0fe13ae3ca Fixed noisemodel compile error, moved remaining nonlinear constraints to NonlinearEquality 2011-11-10 02:05:03 +00:00
Alex Cunningham 98410ca5c9 Merge branch 'unified_constraints' 
Conflicts:
	gtsam/linear/NoiseModel.cpp
	gtsam/linear/NoiseModel.h
	gtsam/linear/tests/testNoiseModel.cpp
 2011-11-09 22:15:40 +00:00
Richard Roberts 9fe47025d5 Added ISAM2 result struct to return information about updates 2011-11-09 17:33:14 +00:00
Richard Roberts b3072a4bfe Added missing pragma once 2011-11-09 03:33:26 +00:00
Richard Roberts 3db9bb1a00 NonlinearOptimizer - Message to indicate max iterations reached when verbose 2011-11-09 01:38:43 +00:00
Alex Cunningham d340e556b5 Fixes due to bad merge 2011-11-07 21:16:26 +00:00
Alex Cunningham 8592e6b2c6 Renamed LieValues, changed Lie interface 2011-11-07 20:23:20 +00:00
Alex Cunningham d03fa3c294 Added missing include 2011-11-07 15:01:51 +00:00
Alex Cunningham 42a3963c7e Merge branch 'master' into retraction_name 2011-11-06 19:40:48 +00:00
Alex Cunningham 5798868ab7 Changed LieValues->Values. Did not change Values typedefs in slam domains, just adjusted namespaces 2011-11-06 19:08:42 +00:00
Richard Roberts 26dd292872 Enabled DogLeg unit test and made DogLeg verbose printing controlled by a flag 2011-11-06 18:26:47 +00:00
Alex Cunningham b0afd2644b Formatting, comments 2011-11-06 02:16:51 +00:00
Alex Cunningham 4284f07a61 Updates to dogleg to work with newer Lie/Manifold/Group interface 2011-11-05 23:01:50 +00:00
Alex Cunningham 1ec7d7e86e Merge branch 'master' into retraction_name 2011-11-05 23:01:48 +00:00
Alex Cunningham 2b9a3db085 Added Group concept, reworked naming and conventions to reduce unnecessary functions 2011-11-05 23:01:43 +00:00
Richard Roberts 53dfa5dbb9 Merging Dogleg into trunk 2011-11-05 21:29:02 +00:00
Richard Roberts bfb0bb0b4a testKey.cpp needed to include Testable.h, but was not being compiled and run, will add to Makefile.am in next checkin 2011-11-05 21:25:01 +00:00
Alex Cunningham b3501efdec Merge branch 'master' into retraction_name 2011-11-05 04:30:02 +00:00
Frank Dellaert 11990982d8 headers, comments 2011-11-05 03:22:49 +00:00
Alex Cunningham 97a82add25 make check for entire library now works 2011-11-04 21:44:34 +00:00
Richard Roberts e1c984f2b4 NonlinearFactorGraph::linearize returns GaussianFactorGraph instead of FactorGraph<GaussianFactor> 2011-10-26 02:11:00 +00:00
Richard Roberts 2c53df3ee7 Simplified VectorValues interface and implementation, slight simplification to Permuted<> 2011-10-26 02:04:06 +00:00
Frank Dellaert fabde56642 Doxygen 2011-10-22 19:56:26 +00:00
Frank Dellaert fbafbaa892 Fixed printing 2011-10-22 19:56:10 +00:00
Alex Cunningham 1bdc8b5951 Typo in comments 2011-10-21 14:20:58 +00:00
Alex Cunningham af093c2a27 Added concept checks to several generic algorithms 2011-10-20 15:13:52 +00:00
Alex Cunningham 3b5c6e8cef Removed old Testable base class 2011-10-20 02:11:28 +00:00
Alex Cunningham 4962c8ed38 Separated split() from the SubgraphSolver because it won't compile in other projects, rearranged headers to remove redundancy and fix template problems 2011-10-18 21:01:16 +00:00
Alex Cunningham e356c30dad fixed typos in print() 2011-10-18 01:58:46 +00:00
Alex Cunningham c271e8f49b Improved print() for nonlinear factors and constraints 2011-10-17 19:40:19 +00:00
Alex Cunningham fe34a644e4 Simplified print function in NonlinearConstraint 2011-10-17 18:43:59 +00:00
Frank Dellaert 56d1d6ae34 Fixed some Doxygen problems with global replace 2011-10-14 03:23:14 +00:00
Richard Roberts c2aee8668e Corrected O(1) -> O(log n) in comment 2011-10-12 07:52:11 +00:00
Richard Roberts d343c1f09a Added copyright block and removed commented code 2011-10-12 07:51:37 +00:00
Alex Cunningham c14d69326a NonlinearConstraint now derives from NonlinearFactor rather than NoiseModelFactor 2011-10-07 20:51:47 +00:00
Chris Beall 7365d899a9 removing unused function 2011-10-04 21:18:15 +00:00
Alex Cunningham 684ccc91b2 Added constructor for NoiseModelFactor that takes only a noisemodel for subclasses 2011-10-03 21:11:39 +00:00
Richard Roberts 8fe0f6a501 Improved documentation 2011-10-03 17:39:18 +00:00
Richard Roberts af3c12a7df Implemented N-way factor base class in NoiseModelFactor, added NonlinearFactor{3-6}, adapted NonlinearFactor1,2,3 and NonlinearConstraint1,2,3 to derive from NoiseModelFactor in a minimal way 2011-10-03 04:24:24 +00:00
Richard Roberts 17a0a02bbd Cleaned up comments and debugging code 2011-10-03 03:58:33 +00:00
Richard Roberts 7903b023ff Needed typename for gcc 4.2 2011-09-30 18:58:14 +00:00
Richard Roberts d07486bf09 ISAM2 refactoring 2011-09-27 20:24:39 +00:00
Richard Roberts 85ff4d6105 Small comment cleanup 2011-09-23 15:35:25 +00:00
Richard Roberts 002e4af0b2 Improved documentation in Ordering and throwing exceptions in at, operator[], and insert instead of assertion failures on bad input 2011-09-23 02:47:45 +00:00
Alex Cunningham 3e7c48269d More informative exception messages in LieValues 2011-09-22 17:23:50 +00:00
Duy-Nguyen Ta c5b9ad0da5 support serialization for NonlinearOptimizationParameters 2011-09-10 21:41:31 +00:00
Richard Roberts 1ca45fd830 Fixed missing return bug 2011-09-10 21:32:39 +00:00
Natesh Srinivasan 3014daa140 Updated the Doxygen style Comments on NonlinearOptimizer.h 2011-09-09 02:34:29 +00:00
Richard Roberts fd4c4fda5d Removed spurious printing when increasing lambda due to negative matrix 2011-09-09 01:56:41 +00:00
Frank Dellaert 43bc372a83 Allow for negative error: set relDecrease to 0. Commented parameters. 2011-09-09 00:47:43 +00:00