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368 Commits (96ce28625bfb43b9ba6d5699b7356da3d9dde0c1)

Author SHA1 Message Date
Richard Roberts 96ce28625b Timing marginals in timeIncremental 2012-10-01 16:12:43 +00:00
Richard Roberts 784e9f5755 Added overall timing scripts for batch and incremental (ISAM2) solving 2012-09-28 17:48:49 +00:00
Frank Dellaert aeb43bc8fc Used technique described in http://gcc.gnu.org/onlinedocs/gcc/Diagnostic-Pragmas.html to turn off excessive warnings generated by boost lambda headers 2012-09-16 18:07:50 +00:00
Frank Dellaert 89cd600165 avoid warnings 2012-09-16 17:54:43 +00:00
Frank Dellaert 7266293a61 Cleaned up some remaining JacobinaFactorGraph remnants 2012-09-05 03:52:01 +00:00
Frank Dellaert c4c5dec9a3 Fixed testIterative unit tests 2012-09-05 03:06:22 +00:00
Richard Roberts b0508cc1a8 Removed JacobianFactorGraph - moved its linear algebra interface to GaussianFactorGraph and redirected all uses of it to GaussianFactorGraph 2012-09-04 22:42:09 +00:00
Frank Dellaert c55f4be0d1 Comments added 2012-09-04 22:20:40 +00:00
Richard Roberts 73f8c0830b Created new dense matrix functions in GaussianFactorGraph returning pair<Matrix,Vector> for easier access, and renamed functions to augmentedJacobian, augmentedHessian, jacobian, hessian 2012-09-04 15:05:57 +00:00
Richard Roberts abd07e553e Made new global functions in unit tests static to avoid duplicate symbols 2012-09-04 15:05:55 +00:00
Yong-Dian Jian af652b0e04 remove simpleSPCG 
reorg SubgraphSolver
add unit test for SubgraphSolver
 2012-09-03 19:43:08 +00:00
Richard Roberts 9497a233ce Cleaned up all remaining commented-out unit tests from the old linear rewrite - removed or reenabled as needed. 2012-09-03 18:36:05 +00:00
Frank Dellaert 35d188e36d Moved testIterative.cpp back to GTSAM, made the first test compile/run 2012-09-03 18:01:24 +00:00
Richard Roberts b6150bd27e Removed deprecated unit tests from testGaussianFactorGraphB and moved SPCG-specific ones to testGraph and testJacobianFactorGraph 2012-09-03 18:00:26 +00:00
Frank Dellaert ab7594e8f0 Made SPCG unit tests compile again, needed several fixes in iterative.h 2012-09-03 00:06:13 +00:00
Richard Roberts 3e93c488e5 Removed extra code that was sometimes maintaining a staircase pattern in JacobianFactor by sorting rows - a holdover from the staircase optimization that is no longer done now that we are using Eigen's QR 2012-08-27 22:29:56 +00:00
Richard Roberts af48d086ed Fixed missing renames 2012-07-27 19:15:58 +00:00
Richard Roberts 5177f31a5d Merge remote-tracking branch 'svn/trunk' into remove_slam_namespaces 
Conflicts:
	gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
	matlab/examples/Pose2SLAMExample_circle.m
	matlab/examples/Pose2SLAMExample_graph.m
	matlab/examples/StereoVOExample_large.m
	tests/testGradientDescentOptimizer.cpp
 2012-07-27 19:01:43 +00:00
Stephen Williams 7fc6a622bf Added additional factors to the serialization unit test 2012-07-25 22:13:22 +00:00
Yong-Dian Jian 168ddf5457 add Cal3DS2.calibrate() with fixed point iteration 
reorg nonlinear conjugate gradient solvers
wrapper for the linear solvers
 2012-07-24 21:06:33 +00:00
Stephen Williams 592fa95d66 Fixed serialization for LieVector and LieMatrix 2012-07-24 14:50:01 +00:00
Stephen Williams c2daf40c5d Removed SLAM namespaces from testSerializationSLAM. Instead of testing each SLAM namespace individually, a single test was created that instanciates all variable-factor combinations. However, there is currently an issue with LieVector that should be resolved. 2012-07-23 22:50:21 +00:00
Stephen Williams 01bcd9e939 Removed SLAM namespace from testNonlinearOptimizer 2012-07-23 22:47:31 +00:00
Stephen Williams 7a0030070c Removed SLAM namespace from testNonlinearISAM 2012-07-23 22:46:55 +00:00
Stephen Williams c8f3356af5 Removed SLAM namespace from testNonlinearEquality 2012-07-23 22:46:21 +00:00
Stephen Williams 0e6762e5c9 Removed SLAM namespace from testInferenceB 2012-07-23 22:45:46 +00:00
Stephen Williams 2de44904ad Removed SLAM namespace from testGraph 2012-07-23 22:45:07 +00:00
Stephen Williams a641f599f6 Removed SLAM namespace from testGradientDescentOptimizer 2012-07-23 22:44:02 +00:00
Stephen Williams fb33b8a609 removed SLAM namespace from testGaussianJunctionTreeB 2012-07-23 22:43:17 +00:00
Stephen Williams 0863b4148d Removed SLAM namespace from testGaussianISAM2 2012-07-23 22:42:42 +00:00
Stephen Williams f56d9c18e5 Removed SLAM namespace from testDoglegOptimizer 2012-07-23 22:41:53 +00:00
Richard Roberts c32d1c7e02 Fixed dimensions bug in Marginals and added unit test 2012-07-23 19:29:52 +00:00
Richard Roberts d397139fa9 Fixed dimensions bug in Marginals and added unit test 2012-07-23 19:20:53 +00:00
Alex Cunningham 6266a2c56d Removed SimpleString from CppUnitLite - now just uses std::string and boost::lexical_cast 2012-07-18 15:43:54 +00:00
Alex Cunningham af52b6811f Fixing small warnings 2012-07-10 18:35:57 +00:00
Richard Roberts 96fc5991db Automatic removal of unused variables in iSAM2 working in unit tests! 2012-06-30 22:32:49 +00:00
Richard Roberts 86f19362ab Return FastSet instead of std::set from NonlinearFactorGraph::keys() 2012-06-30 22:32:46 +00:00
Richard Roberts f06c7ad2e9 Lots of code de-duplication and cleanup in testGaussianISAM2 2012-06-30 22:32:42 +00:00
Richard Roberts abd6795f5b In progress removing variables from iSAM2 2012-06-30 19:17:54 +00:00
Richard Roberts 57ca7d77db Removed Permuted views to simplify a lot of code - all objects that need to be permuted now have their data rearranged instead of using the "Permuted" indirection class. 2012-06-30 01:45:21 +00:00
Richard Roberts c443ccbedd More adding of static to avoid naming conflicts in unit tests 2012-06-30 01:44:00 +00:00
Stephen Williams c7ff913f64 Added yet another configuration parameter to iSAM2. 'enablePartialRelinearizationCheck' checks variables for relinearization by descending the Bayes tree. Once a variable does not need to be relinearized, we stop checking that branch. A full check is still the default. 2012-06-28 20:46:53 +00:00
Alex Cunningham 4e2aae0121 formatting of comments, added parent() interface for Bayes Tree cliques 2012-06-26 18:49:30 +00:00
Frank Dellaert 1bf3ae51a9 Fixed make check compile error 2012-06-24 14:49:52 +00:00
Frank Dellaert 2d0ce1c3ca Streamlining of SLAM namespaces: 
planarSLAM Values and Graph now derive from Pose3SLAM. 
visualSLAM Values and Graph now derive from pose3SLAM.
Several methods have been renamed to make them consistent through these 4 namespaces:
addPrior -> addPosePrior
addHardConstraint -> addPoseConstraint
addOdometry/addConstraint -> addRelativePose
All gtsam and matlab examples/tests run.
PS: please don't use the deprecated typedefs in these namespaces.
 2012-06-24 02:48:12 +00:00
Frank Dellaert 0fe2d527f9 Fixed warnings due to discrete. GTSAM now Wall-safe? 2012-06-22 21:45:36 +00:00
Duy-Nguyen Ta 6f1ea87a00 clean up noise model: Remove Shared[NoiseModel] classes and headers, typedef for backward compatibility in NoiseModel.h. Fix all tests and examples to create shared noise models through static functions in noise model classes. Fix MATLAB wrapper and examples as well. Add tests for MATLAB examples 2012-06-22 19:36:49 +00:00
Stephen Williams 94a769a447 Created derived classes for SymbolicSequentialSolver and SymbolicMultifrontalSolver. This simplifies calling eliminate, mimics the Gaussian versions, and makes matlab wrapping possible. 2012-06-21 22:31:41 +00:00
Alex Cunningham 8789201822 Added mechanism to create a constrained ordering directly from a NonlinearFactorGraph 2012-06-20 01:35:42 +00:00
Yong-Dian Jian 9cb903fe08 1. remove a redundant constructor of PinholeCamera 
2. remove a "backproject_from_camera" function from PinholeCamera, please use "backproject" directly
 2012-06-19 15:28:22 +00:00