Frank Dellaert
|
0af5ac2161
|
Fixed linearize
|
2011-09-08 03:22:46 +00:00 |
Richard Roberts
|
72c2929ad6
|
Changed default to LDL instead of QR in NonlinearOptimizer, see associated frankcvs email
|
2011-09-07 21:52:42 +00:00 |
Alex Cunningham
|
32b6044635
|
Fixing the build by removing the extraneous makefile entry and fixing a typo
|
2011-09-07 20:10:16 +00:00 |
|
Alex Cunningham
|
c9c61aa662
|
Defaults nonlinear optimization to using LDL if possible
|
2011-09-07 20:10:15 +00:00 |
|
Frank Dellaert
|
ac610b2b7e
|
WhiteNoiseFactor class
|
2011-09-07 17:49:15 +00:00 |
|
Richard Roberts
|
936ee6d9fd
|
ISAM2 refactoring and documentation
|
2011-09-07 15:42:49 +00:00 |
|
Frank Dellaert
|
44b74c3d55
|
Fixed bad doxygen @Author: to correct @author style
|
2011-09-07 01:26:28 +00:00 |
|
Frank Dellaert
|
8066ba69c4
|
Removed spurious Testable inheritance
|
2011-09-07 01:22:04 +00:00 |
|
Frank Dellaert
|
638d4f1978
|
Documentation and variable renaming for clarity
|
2011-09-05 21:28:26 +00:00 |
Yong-Dian Jian
|
5c6b6e2eb9
|
fix a misnomer, replace "Mahalanobis" with "distance" in noiseModel::Base
|
2011-09-05 00:14:16 +00:00 |
|
Frank Dellaert
|
f2a66a64fc
|
virtual destructor
|
2011-09-04 01:05:30 +00:00 |
|
Frank Dellaert
|
23ef1cf084
|
Formatting and comments
|
2011-09-03 04:48:06 +00:00 |
|
Frank Dellaert
|
04e41f8c38
|
Split off NoiseModelFactor (a NonlinearFactor with a NoiseModel) from NonlinearFactor (a Factor with dim, linearize, and symbolic methods). NonlinearConstraint derives from NoiseModelFactor.
|
2011-09-03 03:46:19 +00:00 |
|
Richard Roberts
|
06fd0335cc
|
ISAM2 parameters struct instead of function arguments and hard-coded values, also documentation improvement and refactored IndicesFromFactors
|
2011-09-01 21:53:57 +00:00 |
Chris Beall
|
872b145b16
|
removed typename because MacOS gcc 4.2 complained
|
2011-09-01 20:28:24 +00:00 |
Michael Kaess
|
71a7ddb354
|
removed code for older WAFR algorithm
|
2011-09-01 01:00:21 +00:00 |
|
Richard Roberts
|
ec1e53a60d
|
Fixed ISAM2 doxygen documentation
|
2011-08-30 21:53:42 +00:00 |
Stephen Williams
|
fad08ad26a
|
Removed unneeded typedefs
|
2011-08-30 19:52:45 +00:00 |
|
Richard Roberts
|
ca62706f55
|
Added find function and more efficient version of pop_back to Ordering
|
2011-08-30 19:05:00 +00:00 |
|
Richard Roberts
|
059de23b6e
|
Moved ISAM2 from inference to nonlinear
|
2011-08-30 17:15:50 +00:00 |
|
Richard Roberts
|
d4dbf12f8b
|
Bug fix in ISAM2 wildfire function
|
2011-08-29 21:00:48 +00:00 |
|
Stephen Williams
|
27d062a0f0
|
Fixed compile errors due to new SharedGaussian definition
|
2011-08-27 13:50:35 +00:00 |
|
Stephen Williams
|
82fdb0a5f8
|
Added ExtendedKalmanFilter class and easyPoint2KalmanFilter example
|
2011-08-27 12:28:47 +00:00 |
|
Yong-Dian Jian
|
fd07d61a2e
|
Add a robust noise model. Change SharedGaussian to SharedNoiseModel
|
2011-08-26 21:41:01 +00:00 |
|
Stephen Williams
|
b39970ad9a
|
Removed dependency of eloboratePoint2KalmnFIlter example on the LinearizedFactor class
|
2011-08-25 13:34:06 +00:00 |
|
Richard Roberts
|
b57210efcc
|
Levenberg-Marquardt increases lambda when the Hessian is indefinite or negative by catching an exception
|
2011-08-24 20:51:54 +00:00 |
|
Stephen Williams
|
f4bfc435ff
|
Added first of the Kalman Filter examples
|
2011-08-22 15:35:24 +00:00 |
|
Richard Roberts
|
d329d06b77
|
(in branch) moved ISAM2 into main gtsam library
|
2011-08-18 18:06:35 +00:00 |
|
Richard Roberts
|
247005f83c
|
Fixed errors when compiling with clang++
|
2011-07-01 22:52:57 +00:00 |
|
Alex Cunningham
|
985aeeb9c4
|
Moved ccolamd build script into general 3rdparty script
|
2011-06-16 19:55:45 +00:00 |
|
Alex Cunningham
|
778001f63e
|
assorted cleanup - mostly comments and adding implementations to cpp files, rather than in header files
|
2011-06-13 20:01:58 +00:00 |
|
Alex Cunningham
|
fa4faa274a
|
Merge branch 'prep_0.9.3'
|
2011-06-13 16:55:31 +00:00 |
|
Alex Cunningham
|
36f9ebae90
|
Removed files full of broken code, removed simulated2D matlab files, condensed slam unit tests, added the only known test for SPCG in gtsam
|
2011-06-04 20:42:29 +00:00 |
|
Alex Cunningham
|
c4d9208eeb
|
Added serialization for most linear/inference structures, simulated2D - serialization, except for example domains, should be complete
|
2011-06-04 16:52:54 +00:00 |
|
Richard Roberts
|
265b057580
|
Removed key sorting from NonlinearFactor
|
2011-06-04 14:54:27 +00:00 |
|
Alex Cunningham
|
9160775d2a
|
Added nonlinear constraints to gtsam library
|
2011-06-03 15:07:11 +00:00 |
|
Alex Cunningham
|
79c09708e8
|
Assorted cleanup to remove ublas references, switch more Vector/Matrix utility functions to use Eigen in templates, reimplemented backsubstitution with Eigen
|
2011-06-02 20:35:02 +00:00 |
|
Alex Cunningham
|
e9b8a48c43
|
ccolamd now installs and works with gtsam - all tests pass
|
2011-06-02 14:35:26 +00:00 |
|
Alex Cunningham
|
2e942f08ac
|
Removed some extraneous comments from eigen transition
|
2011-05-20 18:43:37 +00:00 |
|
Alex Cunningham
|
e20561be73
|
Merge branch 'eigen'
|
2011-05-20 13:52:08 +00:00 |
|
Alex Cunningham
|
d35eb581ee
|
Removed experimental cmake files - see the branch cmake_build
|
2011-05-19 19:16:03 +00:00 |
|
Yong-Dian Jian
|
85ff7853eb
|
experimental cmake support for linux
|
2011-05-09 16:53:08 +00:00 |
|
Richard Roberts
|
5057138ef1
|
Returning GaussianFactor instead of JacobianFactor from NonlinearFactor::linearize and NonlinearFactorGraph::linearize, so that HessianFactors may be returned as well.
|
2011-04-12 21:18:10 +00:00 |
|
Alex Cunningham
|
ce70480ae0
|
Made keys_ protected to allow initialization in a constructor body, added constructor for NonlinearFactor allowing more than two keys
|
2011-03-30 14:09:34 +00:00 |
|
Alex Cunningham
|
f244310250
|
Fixed serialization for factors and nonlinear factors
|
2011-03-30 03:07:14 +00:00 |
|
Richard Roberts
|
f5eac05add
|
Merged factorization branch - sequential and multifrontal factorization with a function argument to specify the elimination method
|
2011-03-29 21:32:22 +00:00 |
|
Richard Roberts
|
07820af903
|
Fixed crashes when doing linearize/solve on nonlinear factor graphs with NULL factors
|
2011-03-29 19:51:50 +00:00 |
|
Richard Roberts
|
1bd10e4b21
|
Increased precision when printing out convergence info in NonlinearOptimizer
|
2011-03-29 19:50:51 +00:00 |
|
Frank Dellaert
|
e635b21154
|
made keys_ and nrFrontals_ private to ensure correct constructors are called
|
2011-03-25 16:57:28 +00:00 |
|
Frank Dellaert
|
5c193422af
|
Major change, elimination functions are now passed an "Eliminate function", so you can select at run-time which factorization method is used (symbolic, QR, etc...).
|
2011-03-24 19:27:12 +00:00 |
|
Frank Dellaert
|
5fd04188e4
|
cmath rather than math.h header, in implementation file only
|
2011-03-21 15:05:11 +00:00 |
Kai Ni
|
cc3db4f918
|
immediately returns when the maximum iteration number is 0
|
2011-03-11 05:28:53 +00:00 |
|
Chris Beall
|
86bfb571d4
|
sharedFactor from template instead of being hardcoded
|
2011-03-08 15:32:44 +00:00 |
|
Richard Roberts
|
e4ed8cfd60
|
Made NonlinearFactor inherit from Factor<Symbol>, also hopefully fixed a compile error when implicitly up-casting from a derived factor type to its base type, which previously had some workaround(s) in Alex's code and in DiscreteFactor
|
2011-03-04 00:18:17 +00:00 |
|
Alex Cunningham
|
a87a52035d
|
Serialization for (some) nonlinear factors now works, added virtual destructors to factor classes that needed them.
|
2011-03-03 17:16:13 +00:00 |
|
Alex Cunningham
|
cee6b4523e
|
Improved serialization for noisemodel and NonlinearFactors, however currently fails on NonlinearFactorGraphs and some factors
|
2011-02-23 20:31:19 +00:00 |
|
Alex Cunningham
|
4865f1a64d
|
Added more serialization functionality to noiseModel, but SharedGaussians segfault on test, so tests for Nonlinear graphs are commented out
|
2011-02-23 05:19:07 +00:00 |
|
Alex Cunningham
|
299ce59c61
|
Used Boost.MPL to make the char value from a TypedSymbol available as a type to templated functions/classes
|
2011-02-18 19:57:19 +00:00 |
Julian Straub
|
02fe443b44
|
fixed bug when reorder/relinearize is called with no factors
|
2011-02-16 22:59:09 +00:00 |
|
Alex Cunningham
|
be6bec2630
|
fixed constness bug in NonlinearISAM marginals
|
2011-02-12 18:08:21 +00:00 |
|
Alex Cunningham
|
61d3d30f3b
|
Added a marginalCovariance function directly to NonlinearISAM
|
2011-02-11 22:23:42 +00:00 |
|
Alex Cunningham
|
9f4661544f
|
VariableIndex is now constructed at the creation of a NonlinearOptimizer and passed in at solver creation.
|
2011-02-10 16:51:56 +00:00 |
|
Alex Cunningham
|
7407843214
|
Reworked nonlinear optimizer so that it only uses a solver member variable if you are using spcg. SPCG may be broken at this point, and its member variable will be removed soon.
|
2011-02-10 16:01:29 +00:00 |
|
Alex Cunningham
|
06b08c6f85
|
Fixed bug with shared solvers in recursive LM nonlinear optimizer
|
2011-02-10 16:01:28 +00:00 |
John Rogers
|
190a612086
|
Temporarily overriding the FastMap use in LieValues so that LieValues can be serialized properly
|
2011-02-07 17:12:53 +00:00 |
|
Alex Cunningham
|
719e851643
|
Added a functional version of LM optimization for comparison
|
2011-02-06 04:13:32 +00:00 |
|
Alex Cunningham
|
900227234f
|
added an accessor for the nonlinear graph in NonlinearOptimizer
|
2011-02-04 03:39:45 +00:00 |
|
Richard Roberts
|
62f716002a
|
Further cleanup of fast_pool_allocator
|
2011-02-04 03:10:29 +00:00 |
|
Alex Cunningham
|
37ee4f6cb3
|
Added a test for Ordering, added pop_back() to ordering, made changing the ordering in NonlinearISAM possible
|
2011-02-02 03:50:06 +00:00 |
|
Alex Cunningham
|
e4cda1b360
|
Added accessor for NonlinearISAM, comments and whitespace
|
2011-01-29 00:53:15 +00:00 |
|
Richard Roberts
|
4880257e69
|
Merging hessianfactor branch, Cholesky is now default and GaussianFactor is virtual (see email to frankcvs)
|
2011-01-20 22:22:00 +00:00 |
|
Richard Roberts
|
9ac20eea8a
|
Made LieValues allow for values to not be on the linear side during expmap
|
2011-01-18 02:40:22 +00:00 |
|
Richard Roberts
|
711e8c0a32
|
Fixed NonlinearFactor3 key sorting bug found by Niko Sünderhauf (TU-Chemnitz)
|
2011-01-17 16:48:47 +00:00 |
|
Richard Roberts
|
859bd16fd5
|
Made NonlinearOptimizer::try_lambda public to allow the linear system to be modified at every LM iteration, this needs to be done somehow to implement Gaussian mixture EM, but this isn't an ideal solution. Also added a missing 'const' to the linear graph argument.
|
2011-01-02 04:57:48 +00:00 |
|
Richard Roberts
|
193e068cee
|
Added missing shared_ptr typedef to NonlinearFactorGraph
|
2011-01-02 04:48:50 +00:00 |
|
Richard Roberts
|
b68923ea9a
|
Added accessor for NonlinearOptimizer parameters
|
2010-12-31 17:38:05 +00:00 |
|
Kai Ni
|
eada34bd76
|
fixed a bug that causes the optimizer return an incorrect error
|
2010-12-30 11:15:34 +00:00 |
|
Richard Roberts
|
9edeb1102c
|
Fixed bug in BayesTree shortcuts and marginals. Also added an input check to Permutation::PushToBack and PullToFront that catches the bad input of duplicate variables caused by the bug.
|
2010-12-21 18:23:56 +00:00 |
|
Richard Roberts
|
a8a584d38e
|
Rolling back last commit (undoing merge of hessianfactor branch) - does not compile on Linux, could be compiler or boost version problems. Also will probably break Alex's stuff so will work that out before merging.
|
2010-12-17 01:11:28 +00:00 |
|
Richard Roberts
|
de1892016d
|
Merged in hessianfactor branch, Cholesky is now default. This merge also includes improved timing statements with automatic outlining and low overhead
|
2010-12-17 00:51:51 +00:00 |
|
Alex Cunningham
|
9af0a20439
|
constness of access functions
|
2010-12-15 17:06:46 +00:00 |
|
Alex Cunningham
|
000e58d4b2
|
Put NonlinearISAM into the gtsam namespace
|
2010-12-15 17:01:04 +00:00 |
|
Alex Cunningham
|
f4babac85c
|
Moved ISAMLoop to gtsam/nonlinear and renamed it to NonlinearISAM so it can be used elsewhere
|
2010-12-15 16:51:46 +00:00 |
|
Kai Ni
|
3a09395a01
|
fixed a bug in colamdOrdering
|
2010-12-10 09:19:06 +00:00 |
|
Kai Ni
|
7a59d3cfe0
|
fixed a bug in colamdOrdering
|
2010-12-10 07:38:05 +00:00 |
|
Chris Beall
|
0b11a02183
|
fixed initialization list warnings
|
2010-12-09 18:31:25 +00:00 |
|
Richard Roberts
|
a6fd5ff9e2
|
Removed unused inference-inl.h and testOrdering.cpp, added unit test for ordering with unobserved variables.
|
2010-12-09 01:34:20 +00:00 |
|
Alex Cunningham
|
ea61c9d619
|
Fixed missing key in serialization function for NonlinearFactor3
|
2010-12-08 17:25:55 +00:00 |
|
Yong-Dian Jian
|
4c8d65a069
|
take out SymbolSpec
|
2010-12-04 19:23:10 +00:00 |
|
Yong-Dian Jian
|
23f57ea22a
|
add a typedef
|
2010-12-04 19:21:50 +00:00 |
|
Kai Ni
|
b55b9de27f
|
record iteration numbers
|
2010-12-03 03:23:35 +00:00 |
|
Yong-Dian Jian
|
f661baacbb
|
add a struct to represent vector of symbols
|
2010-12-01 22:39:03 +00:00 |
|
Yong-Dian Jian
|
06c319f42c
|
fix bugs
|
2010-11-24 02:16:35 +00:00 |
|
Kai Ni
|
1e54c8c2c0
|
remove duplicated constructors
|
2010-11-22 09:18:01 +00:00 |
|
Kai Ni
|
e726f7c7af
|
remove backward compatible functions in NonlinearOptimizer
|
2010-11-21 22:00:22 +00:00 |
|
Richard Roberts
|
d6929d4409
|
Storing variable index in solver, saved between nonlinear iterations
|
2010-11-15 23:01:50 +00:00 |
|
Alex Cunningham
|
3a978d6930
|
Added an exists function to Ordering
|
2010-11-10 17:08:49 +00:00 |
|
Chris Beall
|
0bd3617630
|
Levenberg Marquardt changed from recursive to iterative implementation to reduce memory footprint.
|
2010-11-09 05:58:31 +00:00 |
|
Alex Cunningham
|
d20118abbc
|
Added dims function so that TupleConfig1 works
|
2010-11-06 17:48:43 +00:00 |
|
Alex Cunningham
|
15310ed6ad
|
Added fix to make TupleConfig1 work
|
2010-11-06 17:35:47 +00:00 |
|
Richard Roberts
|
01c4e5f892
|
Fixed warnings
|
2010-11-05 19:53:28 +00:00 |
|
Alex Cunningham
|
d9fea3946a
|
Fixed references to "CONFIG" in instantiation macros
|
2010-11-05 15:26:33 +00:00 |
|
Kai Ni
|
448ada270a
|
create n-way factor, return keys from nonlinear factor graph
|
2010-10-30 19:27:30 +00:00 |
|
Yong-Dian Jian
|
8c91fe5f53
|
move things to vSLAM according to new policies
|
2010-10-30 05:31:22 +00:00 |
|
Yong-Dian Jian
|
b53bcc7d66
|
add preconditioned conjugate gradient
|
2010-10-28 03:26:03 +00:00 |
|
Yong-Dian Jian
|
70aa2f7f5d
|
fix compile error
|
2010-10-26 23:11:22 +00:00 |
|
Richard Roberts
|
e1b0f7b238
|
Changed default NonlinearOptimizer verbosity to SILENT
|
2010-10-26 20:44:39 +00:00 |
|
Richard Roberts
|
a735b7cdeb
|
Virtual equals and print methods in NonlinearFactor so that printing nonlinear factors works correctly
|
2010-10-26 20:21:52 +00:00 |
|
Yong-Dian Jian
|
dbccf6f3eb
|
remove redundant variable
|
2010-10-26 16:31:21 +00:00 |
|
Richard Roberts
|
67ecfed86e
|
NonlinearOptimizer marginalCovariance returns mean as well
|
2010-10-26 13:51:39 +00:00 |
|
Yong-Dian Jian
|
0778f37063
|
fix ambiguous function overload and default threshold
|
2010-10-25 23:18:55 +00:00 |
|
Richard Roberts
|
3743342534
|
Standardized function names - marginalFactor, marginalFactorGraph, marginalCovariance
|
2010-10-25 22:45:45 +00:00 |
|
Yong-Dian Jian
|
7bfd8b36f4
|
new nonlinear optimizer interface, all parameters are pulled out to the NonlinearOptimizationParameters. Some redundancy remains for full backward compatibility
|
2010-10-25 22:23:57 +00:00 |
|
Richard Roberts
|
2c90e3d836
|
Moved the subdirectories that compile into libgtsam.la into a 'gtsam' subdirectory. Hopefully a good fix for the problem we had trying to make a gtsam distribution, that the source directory may not be called 'gtsam'.
|
2010-10-25 20:10:33 +00:00 |