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
6248db54dd
distribute the factors along the junction tree
2010-07-09 07:31:15 +00:00
39d18328e6
added CCOLAMD, changed colamd compile from C++ to C compiler, added extern accordingly
2010-07-08 21:54:53 +00:00
d5c6f62387
massive check in for using spqr_front
2010-07-04 23:50:21 +00:00
2d40df17ac
added a vector-based DSF implmentation
2010-06-25 06:35:44 +00:00
553cf83194
created some unit tests to help viorela to debug
2010-06-10 18:09:57 +00:00
e8979dafad
Renabled BLAS using ATLAS for Linux, fixed a variety of annoying warnings
2010-05-21 17:59:26 +00:00
6eca454de1
Added a separate ConstraintOptimizer, and moved CQP test from testMatrix to testConstraintOptimizer
2010-04-23 02:08:34 +00:00
a647c84c16
added splitMinimumSpanningTree that uses DSF
2010-03-30 07:27:10 +00:00
cc2e42aa15
added DSF
2010-03-27 06:05:06 +00:00
47a01b1d90
Tried making tests less verbose
2010-02-23 15:13:49 +00:00
274265a401
Errors:axpy and testErrors
2010-02-21 00:01:43 +00:00
cd5c281c76
Added get and set
2010-02-18 14:30:16 +00:00
c044b749cc
Removed old make targets
2010-02-17 14:21:09 +00:00
3247751b5d
Major check-in: there are now two interchangeable implementations of VectorConfig.
...
VectorMap uses a straightforward stl::map of Vectors. It has O(log n)
insert and access, and is fairly fast at both. However, it has high overhead
for arithmetic operations such as +, scale, axpy etc...
VectorBTree uses a functional BTree as a way to access SubVectors
in an ordinary Vector. Inserting is O(n) and much slower, but accessing,
is O(log n) and might be a bit slower than VectorMap. Arithmetic operations
are blindingly fast, however. The cost is it is not as KISS as VectorMap.
Access to vectors is now exclusively via operator[]
Vector access in VectorMap is via a Vector reference
Vector access in VectorBtree is via the SubVector type (see Vector.h)
Feb 16 2010: FD: I made VectorMap the default, because I decided to try
and speed up conjugate gradients by using Sparse FactorGraphs all the way.
2010-02-17 03:29:12 +00:00
1cc5bf748b
make file changes and added make targets to the cproject
2010-02-14 07:26:10 +00:00
f88438bab4
Removed SQP optimizer and moved remaining SQP optimizer tests into testSQP. All equality constraints should be fully functional now. Inequality constraints still to come.
2010-02-06 14:48:46 +00:00
65bc90bf15
timing VectorConfig to speed up iterative
2010-01-29 13:57:45 +00:00
1685920d52
fixed Ab2 bug
2010-01-23 05:29:04 +00:00
b092fee64b
pose2slamoptimizer unit tests worked
2010-01-23 03:49:05 +00:00
807cffbd61
Pose2SLAMOptimizer prototype for use in MATLAB
2010-01-23 00:57:54 +00:00
41a6e64bbb
Fixed insert to use IndexTable, a new class
2010-01-22 02:27:26 +00:00
0dc4f417e9
sampling from NoiseModel
2010-01-21 08:31:18 +00:00
5f588031bc
Merged NoiseQR back into trunk
2010-01-20 18:32:48 +00:00
67878830a6
Added timeMatrix.cpp to test specific matrix operations
2010-01-19 20:59:22 +00:00
88e465910a
SQP tests and implementation now use the new Key system
2010-01-19 05:33:44 +00:00
0e6607d160
relinearization working, but currently applied to all variables
2010-01-18 22:37:44 +00:00
dfeacb218e
Added tests for Keys, Added TypedLabeledSymbol class to allow for runtime symbols on keys
2010-01-18 16:18:02 +00:00
3a83e0678d
KISS refactor of NoiseModel
2010-01-17 00:37:34 +00:00
049cea6964
3D Pose SLAM + removed obsolete Urban files that somehow re-appeared in CitySLAM
2010-01-16 19:37:17 +00:00
99db4c37d8
2D Pose SLAM: created a new templated factor to accommodate GPS measurements, and as part of the refactor I consolidated all Pose2 SLAM classes in pose2SLAM.h. For backwards compatibility it contains
...
typedef pose2SLAM::Prior Pose2Prior;
typedef pose2SLAM::Odometry Pose2Factor;
typedef pose2SLAM::Constraint Pose2Constraint;
typedef pose2SLAM::Config Pose2Config;
typedef pose2SLAM::Graph Pose2Graph;
2010-01-16 18:01:16 +00:00
4914091c87
Pose2Prior test
2010-01-16 15:39:39 +00:00
df62213619
RangeFactor works
2010-01-14 06:00:17 +00:00
ac10c440e1
PairConfig is implemented, VSLAMConfig is now a typedef!
2010-01-14 02:58:29 +00:00
5a02b36723
Solved some linking problems
2010-01-14 01:44:00 +00:00
4369cd2d92
1) add a compose function that compose all the poses in a factor graph given the spanning tree
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2) add a new graph-inl.h which takes care of all the boost graph related functions to prevent the copy and paste across several classes
2010-01-12 16:12:25 +00:00
769763a35d
new target/ignore
2010-01-12 03:16:45 +00:00
1dcc864d97
Comment cleanup to /** style and adding global print functions
2010-01-10 22:41:23 +00:00
1a96ef41cf
Created Pose3Config, Pose3Graph, and tested loop closure optimization.
2010-01-10 18:21:20 +00:00
65e4dc1342
pose2Circle
2010-01-10 15:46:18 +00:00
794ffd3b2f
Fixed significant bug in Pose2Factor, where we forgot to multiply the error with the square root inverse covariance.
2010-01-10 13:55:55 +00:00
4fa53a1f79
Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function.
2010-01-10 06:35:16 +00:00
e5fe4a69f7
change no. of build processes in eclipse to 2
2010-01-08 07:51:29 +00:00
9845a5ae37
add findMinimumSpanningTree to FactorGraph
2010-01-06 11:15:37 +00:00
f82b46f96c
Sped up rodriguez and replaced slow implementation with call to fast implementation. Also moved some functions to cpp.
2010-01-02 14:28:18 +00:00
a1c55b9f62
Updated Pose2Config to expected coding standard
2010-01-02 10:33:33 +00:00
603b692406
New Targets
2009-12-31 12:57:06 +00:00
75ab62a729
ISAM2 (nonlinear ISAM) partially there, unit test currently disabled
2009-12-29 05:57:05 +00:00
d9fd502656
moved CG tests from testGFG to testIterative
2009-12-28 09:44:30 +00:00
5dfd1921e1
template nightmare resolved, all tests working
2009-12-27 23:15:36 +00:00
Frank Dellaert
Kai Ni
Michael Kaess
Alex Cunningham
Manohar Paluri
Richard Roberts