06dac43cae
Some refinement in BayesTreeMarginalizationHelper:
...
1. Skip subtrees that have already been visited when searching for
dependent cliques;
2. Avoid copying shared_ptrs (which needs extra expensive atomic
operations) in the searching. Use const Clique* instead of
sharedClique whenever possible;
3. Use std::unordered_set instead of std::set to improve average
searching speed.
2024-11-02 17:14:01 +08:00
14c3467520
Remove old marginalization code in IncrementalFixedLagSmoother.cpp
2024-10-31 19:05:54 +08:00
67b0b78ea1
Update BayesTreeMarginalizationHelper:
...
1. Refactor code in BayesTreeMarginalizationHelper;
2. And avoid the unnecessary re-elimination of subtrees
that only contain marginalizable variables;
2024-10-31 18:58:49 +08:00
896e52ca27
Fix marginalization in IncrementalFixedLagSmoother.
...
Add BayesTreeMarginalizationHelper.h and use the new helper
to gather the additional keys to re-eliminate when marginalizing
variables in IncrementalFixedLagSmoother.
2024-10-28 23:38:04 +08:00
1f833a0bc3
nonlinear
2023-01-21 09:27:20 -08:00
76b29b78af
Prefer C++11 nullptr
2020-04-06 23:31:05 +02:00
5fe891a1c3
Change FastVector<size_t> to FactorIndices to make clang happy
2019-05-18 19:47:58 -07:00
4cfe84e523
Rename factorToRemove to factorsToRemove
2019-01-21 18:03:38 -05:00
1337ac8ab0
added method to access isam2 results in incremental fixed lag smoother
2016-08-24 14:19:02 -04:00
4e8968e3f5
starting to add remove functionality in fixedLagSmoothers, test does not pass..
2016-08-04 18:46:26 -04:00
fbe9aac41c
squash local changes on top of gtsam upstream pull from 6/14/2016
2016-06-18 23:13:59 -07:00
f7ec58cde0
Replaced BOOSE_FOREACH with for in gtsam_unstable folder.
2016-05-21 11:52:14 -04:00
fad9462661
A better solution through typedef of FactorIndices -> FastVector<size_t>
2016-02-25 23:51:01 -08:00
64aae16b3c
Fixed problem with wrapping iSAM by a hack: made vector<size_t> into KeyVector. This is not a long-term solution: we should enable wrapping of vector<T>.
2016-02-25 22:07:04 -08:00
79d20b6c44
GTSAM-style formatting
2015-05-13 23:44:46 -07:00
13a4da21b2
misc bugfixes and cleanup from skydio
2015-05-13 22:26:24 -07:00
e4f65eacf8
Updating ConcurrentIncrementalSmoother/Filter to work with unordered (work in progress)
2013-08-14 19:12:24 +00:00
321de2f701
Removed debugging check from IncrementalFixedLagSmoother and added work around for tree reordering
2013-04-11 20:55:55 +00:00
f773a34834
Renamed experimentalMarginalizeLeaves to marginalizeLeaves and added comment
2013-03-26 20:46:08 +00:00
396732ff6a
Only call iSAM2 marginalize function if there are actually keys to marginalizae out
2013-03-18 22:28:14 +00:00
9e1a07fcec
Added debugging function to IncrementalFixedLagSmoother
2013-03-18 21:39:07 +00:00
f03be70770
Updated iSAM2 Marginalize call for the latest version of GTSAM
2013-03-18 21:32:43 +00:00
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
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
Jeffrey
kartik arcot
Jose Luis Blanco Claraco
chrisbeall
Toni
Luca
Abe
yao
dellaert
Luca Carlone
Stephen Williams
Richard Roberts