Alex Cunningham
|
f9dcf31c2b
|
Fixing examples and some tests for gtsam_unstable/nonlinear. testConcurrentIncrementalFilter doesn't compile and is disabled, testIncrementalFixedLagSmoother is enabled and builds, but fails.
|
2013-08-19 15:32:08 +00:00 |
Richard Roberts
|
ce9e9b4a91
|
Added "TODO: correct?" comments
|
2013-08-16 21:16:07 +00:00 |
|
Richard Roberts
|
192962d96f
|
Fixed a couple problems in converted ConcurrentIncrementalFilter and ConcurrentIncrementalSmoother
|
2013-08-16 21:16:06 +00:00 |
Luca Carlone
|
3701dc6322
|
Changes in CFS for unordered (still work in progress)
|
2013-08-15 22:12:09 +00:00 |
|
Luca Carlone
|
6337a65ce7
|
Updated Incremental Smoother to unordered
|
2013-08-15 22:12:07 +00:00 |
|
Luca Carlone
|
e4f65eacf8
|
Updating ConcurrentIncrementalSmoother/Filter to work with unordered (work in progress)
|
2013-08-14 19:12:24 +00:00 |
|
Luca Carlone
|
4dfa2506ab
|
ConcurrentFilterAndSmoother updated and working with the unordered version of GTSAM
|
2013-08-13 22:30:08 +00:00 |
|
Richard Roberts
|
d9c9682f6e
|
Merge branch 'svn/trunk'
Conflicts:
gtsam_unstable/slam/BetweenFactorEM.h
gtsam_unstable/slam/tests/testBetweenFactorEM.cpp
|
2013-08-12 21:47:36 +00:00 |
|
Richard Roberts
|
f1c9322d37
|
Removed old VerticalBlockView and SymmetricBlockView (replaced with VerticalBlockMatrix and SymmetricBlockMatrix)
|
2013-08-12 21:41:05 +00:00 |
|
Richard Roberts
|
7a027be7e5
|
Fixed unit tests compiling on windows
|
2013-08-12 16:25:13 +00:00 |
|
Richard Roberts
|
0db8e446d5
|
Disabled gtsam_unstable/nonlinear filters and smoothers
|
2013-08-11 18:40:39 +00:00 |
|
Richard Roberts
|
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 |
Stephen Williams
|
f41d4b879b
|
Added the ability to remove factors from ConcurrentIncrementalFilter
|
2013-08-10 17:16:47 +00:00 |
|
Stephen Williams
|
34a3a6ea49
|
Added the ability to remove factors from the ConcurrentBatchFilter
|
2013-08-10 17:16:38 +00:00 |
|
Stephen Williams
|
ebc6a66c3a
|
Updated to the marginal factor calculation in BatchFixedLagSmoother to
be more efficient
|
2013-08-10 17:16:31 +00:00 |
|
Stephen Williams
|
12d003229a
|
Fixed missing '}'
|
2013-08-10 17:16:19 +00:00 |
|
Stephen Williams
|
c33c6e2c70
|
Added unit tests for Concurrent Incremental Filter and Smoother
|
2013-08-10 17:15:48 +00:00 |
|
Stephen Williams
|
915dc98bd2
|
Updated unit tests for Concurrent Batch Filter and Smoother
|
2013-08-10 17:15:38 +00:00 |
|
Stephen Williams
|
f656e93202
|
Created Concurrent Incremental Filter and Smoother
|
2013-08-10 17:15:31 +00:00 |
|
Stephen Williams
|
663c598591
|
Updated Concurrent Batch Filter and Smoother to the latest versions
|
2013-08-10 17:15:20 +00:00 |
|
Stephen Williams
|
1dc0e6192b
|
Added accessor functions for internal data structures to
IncrementalFixedLagSmoother
|
2013-08-10 17:15:03 +00:00 |
|
Alex Cunningham
|
4a4e16485c
|
Making more things in gtsam_unstable compile
|
2013-08-08 20:08:54 +00:00 |
|
Alex Cunningham
|
883c870dff
|
Removed unnecessary summarization files in gtsam_unstable, restricted compilation of gtsam_unstable for components needing iSAM2 - core gtsam_unstable library builds
|
2013-08-08 20:08:52 +00:00 |
|
Richard Roberts
|
e2f8dd866d
|
Merge branch 'svn/trunk'
Conflicts:
gtsam/linear/GaussianBayesTree.cpp
gtsam/linear/GaussianBayesTree.h
gtsam/linear/VectorValues.h
gtsam/linear/tests/testVectorValues.cpp
gtsam_unstable/nonlinear/sequentialSummarization.cpp
|
2013-08-06 18:33:24 +00:00 |
|
Richard Roberts
|
2d60d2cdfa
|
Fixed more unit tests
|
2013-08-06 18:04:40 +00:00 |
|
Richard Roberts
|
e39d100b6a
|
Made most global unit tests compile, includes dogleg, iterative, kalman filter, etc
|
2013-08-06 13:44:22 +00:00 |
|
Richard Roberts
|
ede0805fac
|
Global find+replace to remove Ordered
|
2013-08-05 22:31:44 +00:00 |
|
Richard Roberts
|
cb7eb1b510
|
Find+replace Ordered headers
|
2013-08-05 22:31:33 +00:00 |
|
Richard Roberts
|
09643929fd
|
Making some tests compile
|
2013-08-05 22:31:26 +00:00 |
|
Alex Cunningham
|
424ef0728f
|
Changed a filename to avoid having multiple object files of the same name in the library
|
2013-08-01 16:54:44 +00:00 |
|
Richard Roberts
|
3ade190128
|
Renamed old classes to "Ordered" and removed "Unordered" name from new classes
|
2013-07-29 23:55:40 +00:00 |
|
Richard Roberts
|
123657e3d0
|
Merged from branch 'trunk'
|
2013-06-24 15:28:16 +00:00 |
|
Richard Roberts
|
5ae4f21517
|
Added missing dll export tags to new functions
|
2013-06-20 16:05:23 +00:00 |
|
Richard Roberts
|
d5e721a1d0
|
Continued work on unordered classes and elimination algorithm
|
2013-06-06 15:36:11 +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
|
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 |
|
Stephen Williams
|
13d3f1cb6e
|
Updated Fixed-Lag smoother example
|
2013-05-21 14:57:40 +00:00 |
|
Stephen Williams
|
1c5061cf3c
|
Added optional flag to ConcurrentBatchFilter to control relinearization
during syncs.
|
2013-05-17 08:06:06 +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 |
|
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 |
|
Alex Cunningham
|
224be276e4
|
Added a new summarization convenience function and cleaned up documentation
|
2013-04-26 18:27:22 +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
|
5f3238634d
|
Added missing GTSAM_UNSTABLE_EXPORT tag
|
2013-04-25 15:57:06 +00:00 |
|
Richard Roberts
|
124a38f72d
|
Made unit test local vars/functions in anonymous namespace
|
2013-04-22 17:44:09 +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 |
|
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
|
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
|
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
|
321de2f701
|
Removed debugging check from IncrementalFixedLagSmoother and added work around for tree reordering
|
2013-04-11 20:55:55 +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 |
|
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
|
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 |
|
Stephen Williams
|
4c6a460fa0
|
Fixed bugs in tic-toc statements for Concurrent Filter and Smoother
|
2013-04-08 17:42:26 +00:00 |
|
Richard Roberts
|
7c362b2cbd
|
Loosened unit test thresholds slightly to account for roundoff error on some systems
|
2013-04-05 19:12:46 +00:00 |
|
Richard Roberts
|
67e36febf2
|
Added DLL export annotations on new code
|
2013-04-01 19:29:53 +00:00 |
|
Richard Roberts
|
f773a34834
|
Renamed experimentalMarginalizeLeaves to marginalizeLeaves and added comment
|
2013-03-26 20:46:08 +00:00 |
|
Alex Cunningham
|
da334ed8a2
|
Added linear tools (including summarization) from MastSLAM
|
2013-03-23 20:19:36 +00:00 |
|
Stephen Williams
|
396732ff6a
|
Only call iSAM2 marginalize function if there are actually keys to marginalizae out
|
2013-03-18 22:28:14 +00:00 |
|
Stephen Williams
|
9e1a07fcec
|
Added debugging function to IncrementalFixedLagSmoother
|
2013-03-18 21:39:07 +00:00 |
|
Stephen Williams
|
f03be70770
|
Updated iSAM2 Marginalize call for the latest version of GTSAM
|
2013-03-18 21:32:43 +00:00 |
|
Richard Roberts
|
a54d177202
|
Added dll export tags and updated cmake scripts so that GTSAM can build as a shared library on windows
|
2013-03-13 18:56:21 +00:00 |
|
Richard Roberts
|
6111c099ab
|
Improved build of shared vs static GTSAM libraries - now possible to build either one or both, executables link to the shared if it is being build, or otherwise to the static. Also removed separate shared/static CMake flags for gtsam_unstable, now uses the same GTSAM_BUILD_SHARED and GTSAM_BUILD_STATIC as gtsam.
|
2013-03-13 18:17:39 +00:00 |
|
Stephen Williams
|
eacbaeb84d
|
Updated incremental version of the fixed lag smoother to use the in-development iSAM2 marginalize functionality
|
2013-03-05 20:54:00 +00:00 |
|
Stephen Williams
|
60d3ba2d0e
|
Added and incremental fixed-lag smoother using new iSAM2 marginalization functionality, and created a common base class for all fixed-lag smoother implementations.
|
2013-02-27 20:23:47 +00:00 |
|
Richard Roberts
|
2b27c14dac
|
Fixed compile errors on windows
|
2013-02-24 19:09:52 +00:00 |
|
Stephen Williams
|
6fef6cf7d5
|
Added Fixed Lag Smoother and Concurrent Filtering and Smoothing to gtsam_unstable
|
2013-02-19 21:37:17 +00:00 |
|
Alex Cunningham
|
237da8b3a7
|
Moved LinearContainerFactor to gtsam/nonlinear and removed the now-redundant LinearizedFactor from gtsam_unstable
|
2012-11-21 19:41:24 +00:00 |
|
Alex Cunningham
|
cba120c96d
|
LinearContainerFactor now includes ability to "relinearize" when supplied with an original linearization point
|
2012-11-21 19:02:13 +00:00 |
Chris Beall
|
4297d24c96
|
changed tabs to spaces for consistent indentation in all of GTSAM
|
2012-10-02 14:40:07 +00:00 |
|
Alex Cunningham
|
1985758d35
|
Updated interfaces and wrapped LinearContainerFactor
|
2012-09-21 14:19:57 +00:00 |
|
Alex Cunningham
|
d3b5c463ed
|
Fixed initialization bug
|
2012-09-03 17:22:09 +00:00 |
|
Alex Cunningham
|
d8e0a95890
|
Small bug-fixes for managing linearization points
|
2012-09-03 03:06:08 +00:00 |
|
Alex Cunningham
|
6b14e652ff
|
Fixed bug in equality check
|
2012-08-27 01:40:11 +00:00 |
|
Alex Cunningham
|
12290dc7b2
|
Added linearization points to LinearContainerFactor. Fixed bug with localCoordinates() in Values
|
2012-08-27 01:11:37 +00:00 |
|
Alex Cunningham
|
f9c3af7e3d
|
Fixed bug in key assignment
|
2012-08-26 04:16:47 +00:00 |
|
Alex Cunningham
|
9962a66e7c
|
Added utility functions for converting graphs with LinearContainerFactors, added direct order() to avoid the need to fake linearize.
|
2012-08-21 18:48:04 +00:00 |
|
Alex Cunningham
|
bac1faa68e
|
Added ordering-less negate()
|
2012-08-20 18:28:19 +00:00 |
|
Stephen Williams
|
e2e780de4d
|
Removed SLAM namespaces from testLinearizedFactor
|
2012-07-23 22:51:18 +00:00 |
|
Alex Cunningham
|
e6a294d188
|
Added LinearContainerFactor to add linear factors to nonlinear graphs
|
2012-07-10 18:15:51 +00:00 |
|
Alex Cunningham
|
1abf81052f
|
Removed unused test file - linear containers to appear in MastSLAM
|
2012-07-06 14:48:25 +00:00 |
Frank Dellaert
|
0fe2d527f9
|
Fixed warnings due to discrete. GTSAM now Wall-safe?
|
2012-06-22 21:45:36 +00:00 |
|
Alex Cunningham
|
94560fcc45
|
Fixed factor equals
|
2012-06-10 19:55:01 +00:00 |
|
Alex Cunningham
|
b602e75a99
|
Removed the use of the ADD_CLONE_NONLINEAR_FACTOR macro, documented instances of clone() in factors
|
2012-06-09 21:06:06 +00:00 |
|
Alex Cunningham
|
111ef8a0f0
|
Moved LinearizedFactor from MastSLAM, started on a test for LinearContainerFactor
|
2012-06-07 18:16:37 +00:00 |