dellaert
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a423f284e9
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Canonical coordinates prototype, works for Snavely
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2014-10-20 14:23:08 +02:00 |
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dellaert
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821f776118
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Wrapper works to some extent
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2014-10-20 09:43:32 +02:00 |
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dellaert
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7ebc8e969f
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Charts with default constructors
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2014-10-20 09:29:45 +02:00 |
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dellaert
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63ae33088e
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Some success on the way to autodiff
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2014-10-19 23:47:59 +02:00 |
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dellaert
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eac76cd0f0
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Some progress on defining interface
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2014-10-19 11:18:36 +02:00 |
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dellaert
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6e142184cc
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Implemented is_manifold and dimension for all types in testExpressionFactor
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2014-10-19 00:35:25 +02:00 |
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dellaert
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d436d99146
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Moved stuff to Manifold.h
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2014-10-18 23:25:25 +02:00 |
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dellaert
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fcda501ee2
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double as manifold. No more LieScalar !
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2014-10-18 18:13:33 +02:00 |
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dellaert
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ed6a2b6eff
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Charts !!!!
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2014-10-18 17:11:28 +02:00 |
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dellaert
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9c97b1d8a0
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Some more refactoring
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2014-10-18 16:45:04 +02:00 |
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dellaert
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66b3081603
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localCoordinates and retract
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2014-10-18 15:02:22 +02:00 |
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dellaert
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10cfd47404
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TangentVector meta-function
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2014-10-18 14:29:40 +02:00 |
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dellaert
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ec69949f43
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Point2 specialized
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2014-10-18 14:22:01 +02:00 |
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dellaert
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f08dc6c031
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More boost-style traits
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2014-10-18 14:16:24 +02:00 |
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dellaert
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4c33444415
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Snavely tested
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2014-10-18 13:16:44 +02:00 |
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dellaert
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bdf12b14b9
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Add Snavely cost function
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2014-10-18 12:35:02 +02:00 |
|
dellaert
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7018afdd58
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Slight refactor of numerical derivatives
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2014-10-18 12:34:05 +02:00 |
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dellaert
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2972671064
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Use boost::bind to avoid code duplication
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2014-10-18 12:29:14 +02:00 |
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dellaert
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db037c96c5
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Implemented manifold_traits to allow numerical derivatives wrpt Matrix arguments
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2014-10-18 12:12:25 +02:00 |
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dellaert
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2cbba15573
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ceres style functor
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2014-10-18 00:29:18 +02:00 |
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dellaert
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02d25f6658
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New tests on traceSize
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2014-10-16 15:07:05 +02:00 |
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dellaert
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0bcca2c386
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Drastic reduction in allocations at ExpressionFactor construction by having dims constructed imperatively, and using it for both keys_ and dimensions_
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2014-10-16 14:16:58 +02:00 |
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dellaert
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3413b98331
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New storage sizes
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2014-10-15 14:30:36 +02:00 |
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dellaert
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79ff0c54f9
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createUnknowns
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2014-10-15 10:38:54 +02:00 |
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dellaert
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c971207abf
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Switched to vector for dimensions
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2014-10-14 17:16:31 +02:00 |
|
dellaert
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1c3f328fb2
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Successful switch to Blocks !
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2014-10-14 15:43:41 +02:00 |
|
dellaert
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d8d94d0c34
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dimensions implemented and tested
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2014-10-14 09:53:47 +02:00 |
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dellaert
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0a41b0a027
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Moved meta-programming tests to testExpressionMeta.cpp
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2014-10-14 08:53:16 +02:00 |
|
dellaert
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ef5bf03c81
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Clean up
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2014-10-13 23:04:30 +02:00 |
|
dellaert
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70f0caf0e3
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Experimenting w Fusion
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2014-10-13 22:50:47 +02:00 |
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dellaert
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dda91df6e1
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On the way to full fusion: Optional meta-function now separate from Jacobian.
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2014-10-13 18:32:58 +02:00 |
|
dellaert
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ba0b68110f
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Boost Fusion needed to access values :-(
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2014-10-13 13:56:51 +02:00 |
|
dellaert
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a52ff52941
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Try some meta-transforms
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2014-10-13 13:34:00 +02:00 |
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dellaert
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1c1695353e
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Now we can apply ExecutionTrace and Expression as meta-functions
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2014-10-13 13:04:37 +02:00 |
|
dellaert
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74269902d7
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Big collapse now realized all the way through
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2014-10-13 11:37:47 +02:00 |
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dellaert
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da0e5fe52f
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The great collapse: instead of two recursively defined classes, there is now only one. The Record class is now a (recursive) inner class.
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2014-10-13 10:50:05 +02:00 |
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dellaert
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7fde47c48b
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No more JacobianTA typedefs -> all use Jacobian<T,A> now.
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2014-10-13 09:25:06 +02:00 |
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dellaert
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8100d89094
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So much better as methods
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2014-10-12 23:57:08 +02:00 |
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dellaert
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55cc4ba56c
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Switched names of fold result and meta-function that is folded over
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2014-10-12 23:31:58 +02:00 |
|
dellaert
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ef21a4ba4a
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Major re-org in preparation of recursive Functional nodes
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2014-10-12 23:03:33 +02:00 |
|
dellaert
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408be628d2
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Small change in meta-programming, big improvement in clarity
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2014-10-12 22:17:21 +02:00 |
|
dellaert
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107bcd8bb4
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Going forwards, we default to reverse :-)
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2014-10-12 22:04:40 +02:00 |
|
dellaert
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4d1eb05c7d
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Passing JacobianMap as an argument now..
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2014-10-12 20:16:08 +02:00 |
|
dellaert
|
ed62271f81
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Dealing with constrained noise model
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2014-10-12 10:52:07 +02:00 |
|
dellaert
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c9f80536c0
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Added a constraint model
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2014-10-11 23:07:23 +02:00 |
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dellaert
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1bac83381f
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Merge remote-tracking branch 'origin/feature/BAD_meta' into feature/BAD: Now the Record structures are recursively generated using template meta-programming, basically mpl::fold
Conflicts:
gtsam_unstable/nonlinear/Expression-inl.h
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2014-10-11 15:20:12 +02:00 |
|
dellaert
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88f9a423c5
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Numbered types avoid ambiguity
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2014-10-11 14:19:39 +02:00 |
|
dellaert
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ecf6462a25
|
Victory!! Unit tests work!
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2014-10-11 13:07:58 +02:00 |
|
dellaert
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599e232d1d
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traceSize, two tests work
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2014-10-11 12:11:22 +02:00 |
|
dellaert
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9585823d5d
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...but works with correct size !
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2014-10-11 11:32:52 +02:00 |