fbbdd0be3e
Fixed error calculation with NonlinearConstraints - now use Unit noisemodels in NonlinearConstraint to prevent having the error forced to infinity
2010-02-22 21:11:22 +00:00
ea3b8083b0
Fixed more tests for NonlinearConstraints, inequality constraints now work.
2010-02-07 01:18:17 +00:00
219dfd262d
SQP now works with single configs using the TupleConfigs, without needing a separate optimizer.
2010-02-06 05:14:52 +00:00
67744a5f07
Changed NonlinearConstraint to correctly use new keys
2010-02-04 16:08:11 +00:00
59c7ce7e29
Integrated householder-based QR into NoiseModel. Note that the examples for GFG have changed to ensure that they are actually a linearized version of the nonlinear example.
2010-01-27 04:39:35 +00:00
351cdd18c2
case change: SharedGaussian and SharedDiagonal are now classes with their own header file. Needed for MATLAB TORO hail Mary
2010-01-22 17:36:57 +00:00
5f588031bc
Merged NoiseQR back into trunk
2010-01-20 18:32:48 +00:00
88e465910a
SQP tests and implementation now use the new Key system
2010-01-19 05:33:44 +00:00
a4a6e002e5
NOISE MODEL.
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This is a big edit but with no templates involed, so it should not be a big deal.
New namespace gtsam::noiseModel collects all noise models, which provide efficient whitening and chain-rule implementation needed for optimization. The class hierarchy gives us the ability to use models from full covariances to i.i.d. unit variance noise with a single interface, where the latter will be much cheaper.
From now on, all non-linear factors take a shared_ptr to a Gaussian noise model. This is done through the parameter (const sharedGaussian& model). The use of a shared pointer allows us to share one noise models for thousands of factors, if applicable.
Just like Richard's Symbol change, there is a compile flag GTSAM_MAGIC_GAUSSIAN which allows you to use doubles, vectors, or matrices to created noise models on the fly. You have to set it to the correct dimension. Use of this is *not* encouraged and the flag will disappear after some good soul fixed all unit tests.
2010-01-18 05:38:53 +00:00
aef0b42562
Refactoring to use a new Symbol key instead of strings in Bayes*, Gaussian*, Ordering, Symbolic*, VectorConfig. Renamed existing type-checking key Symbol<C,T> to TypedSymbol<C,T>
2010-01-17 19:34:57 +00:00
e2bc13a2a6
Renaming gradients -> jacobians
2009-12-18 03:05:47 +00:00
a1918056a5
Changed NonlinearConstraints to take cost and gradient functions that do not take the list of keys. Tests have been reconstructed using boost::bind
2009-12-18 02:39:02 +00:00
7d0de77fc6
Changed argument ordering for constraints
2009-12-18 01:40:29 +00:00
9efac7b3fb
Some re-naming and re-formatting only
2009-12-15 05:34:49 +00:00
e26acc0d8d
Changed nonlinear constraints to use boost.bind to handle arbitrary function objects for evaluating cost, useful for parameterizing cost functions.
2009-12-01 19:45:47 +00:00
395e4ae3f1
Fixed sign issue on nonlinear constraints, so that that it is not necessary to flip the sign on the delta configs before using exmap.
2009-11-28 21:00:09 +00:00
0ff7e3a5d9
Changed interface on constraint g(x) and grad_g(x) functions to take a list of keys, so that all of the variables in a factor can be used as necessary. Moved g(x) into base NonlinearConstraint class and some cleanup.
2009-11-28 19:18:02 +00:00
107c6846fb
Added basic inequality constraint handling to NonlinearConstraint. Demo still in progress, but now constraints are explicitly handled as either equality or inequality constraints, with an active() function to determine if it is necessary to use the constraint.
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Created testOrdering for new subtract() function to remove parts of an ordering.
2009-11-28 18:35:36 +00:00
f3e825767b
NonlinearConstraints now handle inactive constraints (when the state is already in the feasible region) by returning empty factors on linearization.
2009-11-27 18:42:01 +00:00
714edb57f0
Basic implementation of a binary nonlinear constraint, with working linearization of a binary constraint.
2009-11-20 03:50:48 +00:00
ee4a066275
Implemented linearization and equality for unary NonlinearConstraints. Current tests use a scalar example. Split out implementation into a separate implementation file.
2009-11-20 03:04:49 +00:00
429f27550c
Added a NonlinearConstraint and testNonlinearConstraint. There is currently an abstract base class for constraints and a partially implemented unary constraint.
2009-11-19 16:50:18 +00:00
Alex Cunningham
Frank Dellaert
Richard Roberts