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7413 Commits (a881e8d3eeb50a0ae8b12db9f28ff1203f50a6fd)

Author SHA1 Message Date
thduynguyen 6d68f5ffff equality constraints are always active 2014-12-12 12:02:06 -05:00
thduynguyen 4f28eace7e LinearInequality now only supports single-valued function. Add active/activate/inactivate function to use in the qp active set method. 2014-12-12 12:01:16 -05:00
lvzhaoyang bcfcf8be8e fix gtsam wrapper for priorFactorVector 2014-12-12 11:34:34 -05:00
Luca c4bd02c3fa split of measurement covariance into diagonal blocks. 2014-12-11 19:54:42 -05:00
Luca d9a7f516ef making test more complicated 2014-12-11 19:34:20 -05:00
Duy-Nguyen Ta ba9e73785a Merged in feature/qp_refactor (pull request #53) 
Some refactoring
 2014-12-11 16:04:35 -05:00
Luca dcc028518f added unit test and removed approximation in covariance propagation 2014-12-11 15:46:33 -05:00
Luca 3c840e1bf3 fixed matlab wrapper 2014-12-11 12:23:18 -05:00
Luca 295fd7385a minor renaming 2014-12-11 12:20:54 -05:00
Luca af04b834b9 using fixed-size matrix/vector when possible 2014-12-11 11:28:43 -05:00
Luca c4fafd9268 added unit test, improved computation 2014-12-11 11:06:47 -05:00
Sungtae An c1f048dc42 Merged in featrue/fixPCG (pull request #67) 
Fixed PCG solver
 2014-12-11 10:36:47 -05:00
Luca 9dbca87c86 fixed evaluate error to compy with additive Gaussian noise model. Still to be optimized, but unit tests pass :-) 2014-12-10 20:51:26 -05:00
Luca 1dfd9d2ae7 cleaned up unit test 2014-12-10 16:56:31 -05:00
Luca 36358308fd minor code optimization in ExpmapDerivative 2014-12-10 16:56:21 -05:00
Luca b3f0f3877c capitalized ExpmapDerivative and LogmapDerivative 2014-12-10 16:16:29 -05:00
dellaert 22218eafc4 We will not wrap fixed Vectors and Matrices individually. Methods that take those can just as well be wrapped with Vector or Matrix. Note const and & are ignored for those. I added a small method, insertFixed, that allows one to put in small fixed size matrices for optimization. Did not do retrieval yet. 2014-12-10 10:45:22 +01:00
Sungtae An e9b0f7b98f Change Cholesky decomposed matrix from 'Upper' to 'Lower' in order to avoid confusion. 2014-12-10 02:55:40 -05:00
thduynguyen ba903536c8 fix ACTIVE/INACTIVE constants as Frank suggested 2014-12-09 22:29:21 -05:00
thduynguyen 565eb99948 remove a TODO as it's done. 2014-12-09 22:28:39 -05:00
Luca 57d83be48a matrix definition on same line 2014-12-09 19:05:14 -05:00
Luca b96a463b10 ok, fixed updatePreintegratedMeasurements with optionalJacobian 2014-12-09 18:32:38 -05:00
Luca d809a952df started to include optionalJacobian: compiles after merge to develop and all unit tests pass 2014-12-09 18:03:54 -05:00
Luca bf8de1341b Merge branch 'develop' 2014-12-09 17:13:30 -05:00
Luca e82b815a48 renamed right jacobian of expmap and logmap (removed "right", according to Frank's suggestion :-) 2014-12-09 17:10:04 -05:00
Luca 1e8402231c applied (to some extend) the naming convention proposed by Frank 2014-12-09 16:59:30 -05:00
Luca b593a6a2d5 removing redundant lines and using jacobian computation from base class 2014-12-09 16:41:29 -05:00
Luca 5f17e1fb98 fixed noise propagation. Luca&Christian: insight is that preintegration noise acts on rotations as R * expmap(noise), while before it was expmap( logmap(R) + noise) 2014-12-09 16:34:43 -05:00
thduynguyen 85397223ef fix QPSolver unit tests 2014-12-09 16:27:11 -05:00
thduynguyen 9b418c98ca fix LPSolver unittest 2014-12-09 16:26:19 -05:00
Luca 013c8a4cef added extra test on covariance propagation 2014-12-09 16:05:39 -05:00
Luca d22868d524 removed multiple definitions of trivial matrices (eye,zero) 2014-12-09 15:55:24 -05:00
Luca 2c1d72e7d7 tested Jacobians computation (G) for combined IMU factor 2014-12-09 15:50:41 -05:00
Luca 53b59bf488 added truth revealing unit test for Combined Imu factor (and fixed latest changes, that, moving updatePreintegratedMeasurements before, were creating a bug) 2014-12-09 15:17:26 -05:00
Frank Dellaert 2d231edd1b Merged in fix/windowsExpressions (pull request #69) 
Windows Fixes
 2014-12-09 19:06:02 +01:00
Andrew Melim 1e778cf77b No longer need to cast function pointers for expressions on Windows, with Optional Jacobian 2014-12-09 11:53:35 -05:00
Andrew Melim 137ea64200 Updating with OptionalJacobian 2014-12-09 11:49:47 -05:00
Andrew Melim 90676199dd Adding comment relating to issue and move around fix preprocessor locations 2014-12-09 11:49:13 -05:00
Andrew Melim 3bd491bf66 Merge branch 'develop' into fix/windowsExpressions 2014-12-09 11:04:30 -05:00
thduynguyen 57aae7f7b1 revert .cproject to its previous version in commit a9e3545a 2014-12-09 10:25:59 -05:00
thduynguyen 733b041cf2 Merge remote-tracking branch 'origin/feature/quadratic_programming' into feature/qp_refactor 
Conflicts:
	gtsam_unstable/linear/QPSolver.cpp
 2014-12-09 10:24:56 -05:00
thduynguyen 001794ac84 refactor QPSolver inprogress... Compiled but tests failed. 2014-12-09 06:13:57 -05:00
thduynguyen 8c4705b905 check testable concept 2014-12-09 06:13:01 -05:00
thduynguyen a4f8ead2a6 add print 2014-12-09 06:12:41 -05:00
Andrew Melim cea76a2848 More template handholding for windows 2014-12-08 21:48:59 -05:00
Andrew Melim 701dcc1c99 Correcting VLA issue, and add template specification for between Pose2 objects. More template specifcations will be needed on windows, unless another fix is found 2014-12-08 21:39:12 -05:00
Andrew Melim fdc1d50801 Added comment 2014-12-08 20:48:36 -05:00
Andrew Melim 4f6ed03803 Fix missing symbol exports for windows 2014-12-08 20:45:24 -05:00
Luca 64dfde3ae6 in the process of adding tests for the combined imu factor (not there yet) 2014-12-08 20:28:28 -05:00
Andrew Melim 92f1f33818 Preprocessor warning does not work on windows. Use pragma message instead 2014-12-08 20:24:00 -05:00