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87 Commits (b2f4893c7f1bd30524c5a11d2163de80c1c7a68f)

Author SHA1 Message Date
Richard Roberts ea3ca54cba "Fixed" more unit tests 2013-08-11 19:01:06 +00:00
Richard Roberts 517a5037a7 Enabled more unit tests and either fixed them or have them print a "disabled" message during make check 2013-08-11 18:41:08 +00:00
Richard Roberts f4d816dcf8 Disabled testSmartProjectionFactor and made print message about this 2013-08-11 18:40:57 +00:00
Richard Roberts f240327f24 Fixed testIMUSystem and BetweenFactorEM 2013-08-11 18:40:47 +00:00
Richard Roberts 4585fd1caa Merge branch 'svn/trunk' 
Conflicts:
	gtsam/navigation/tests/testInertialNavFactor_GlobalVelocity.cpp
	gtsam/nonlinear/ISAM2.cpp
	gtsam/nonlinear/ISAM2.h
	gtsam/slam/tests/testBetweenFactor.cpp
	gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
	gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
	gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
	gtsam_unstable/slam/SmartProjectionFactor.h
 2013-08-11 18:16:56 +00:00
Richard Roberts bb4ad176da Needed std:: 2013-08-09 18:50:15 +00:00
Richard Roberts 1eae17561d Taking ImuFactor noise model automatically from preintegrated measurement covariance 2013-08-09 18:50:14 +00:00
Chris Beall 369e69b0d2 actually set everything to zero to turn factor off during linearization 2013-08-09 15:28:57 +00:00
Vadim Indelman b0c96f9bf6 unwhitenedError. 2013-08-08 20:14:12 +00:00
Alex Cunningham 4a4e16485c Making more things in gtsam_unstable compile 2013-08-08 20:08:54 +00:00
Vadim Indelman 579e0931dc Fixed different issues with EM. 2013-08-08 15:12:21 +00:00
Luca Carlone b3ea3f9465 lines added to testSmartProjectionFactor 2013-08-08 14:30:26 +00:00
Luca Carlone a82262cf99 Included noise model and f term in SmartProjectionFactor 2013-08-08 14:00:26 +00:00
Zsolt Kira f423d6f2a8 SmartProjectionFactor: More cleanup, added more tests, added some timing 2013-08-07 23:32:40 +00:00
Vadim Indelman d33f435eab Added BetweenFactorEM with 2 indicator variables. 2013-08-07 15:25:00 +00:00
Zsolt Kira c2f5adc7d0 Cleaned up code: Removed commented out code, added debug condition 
If debug is enabled, both blockwise and full implementations are performed and then compared
 2013-08-07 13:05:08 +00:00
Richard Roberts e2f8dd866d Merge branch 'svn/trunk' 
Conflicts:
	gtsam/linear/GaussianBayesTree.cpp
	gtsam/linear/GaussianBayesTree.h
	gtsam/linear/VectorValues.h
	gtsam/linear/tests/testVectorValues.cpp
	gtsam_unstable/nonlinear/sequentialSummarization.cpp
 2013-08-06 18:33:24 +00:00
Richard Roberts e39d100b6a Made most global unit tests compile, includes dogleg, iterative, kalman filter, etc 2013-08-06 13:44:22 +00:00
Luca Carlone 482c5df647 updates in SmartProjectionFactor: first working version with full and block version producing the same results (non-optimized) 2013-08-05 22:34:31 +00:00
Richard Roberts ede0805fac Global find+replace to remove Ordered 2013-08-05 22:31:44 +00:00
Luca Carlone 2e085ace91 Changes in SmartProjectionFactor 2013-08-05 19:25:08 +00:00
Chris Beall 5518007317 adding test with regular projection factors for comparison, and bug fixes in SmartFactor test. 2013-08-05 17:58:32 +00:00
Chris Beall d1de6b29a9 adding 3 camera, 3 landmark test 2013-08-05 15:50:19 +00:00
Luca Carlone 39ec641c4a Modifications to SmartProjectionFactor and unit test: work in progress 2013-08-05 15:09:03 +00:00
Luca Carlone d1419a3d11 Added SmartProjectionFactor (+unit tests) 2013-08-02 23:35:39 +00:00
Richard Roberts f273b8f915 Removed extra 'typename' 2013-08-02 16:04:29 +00:00
Richard Roberts 34dc67c1af Brought some relevant changes from aspn-imu-factor branch (is correct this time) 2013-08-02 16:04:17 +00:00
Richard Roberts 2705d85fa7 Merged from branch 'trunk' 2013-07-31 18:55:15 +00:00
Luca Carlone ed79432a69 Added MultiProjectionFactor, invoving n views (camera poses) observing a single landmark: work in progress 2013-07-31 18:02:56 +00:00
Richard Roberts 321a286f02 Revert "Brought some relevant changes from aspn-imu-factor branch" 
This reverts commit b08a11ffb27d14487115f20745f1cea17fcc55ee.
 2013-07-31 15:26:48 +00:00
Richard Roberts b62af20fdc Revert "Removed extra 'typename'" 
This reverts commit 04fd69f56c1e1cbd934a54aeb415e2cf2132d236.
 2013-07-31 15:26:46 +00:00
Richard Roberts 90cf73d4a7 Removed extra 'typename' 2013-07-31 15:25:05 +00:00
Richard Roberts 7345b40feb Brought some relevant changes from aspn-imu-factor branch 2013-07-31 15:25:03 +00:00
Richard Roberts 3ade190128 Renamed old classes to "Ordered" and removed "Unordered" name from new classes 2013-07-29 23:55:40 +00:00
Alex Cunningham f3aa2fde53 Fixed compile error 2013-06-25 17:22:45 +00:00
Frank Dellaert 0837eab8f5 Scripts to test (still not working so-well) smart range factor 2013-06-25 17:13:02 +00:00
Richard Roberts 26df712592 Put new unit test global variables into anonymous namespaces. Removed dll export tag from SmartRangeFactor since it is a header-only class. 2013-06-24 19:30:00 +00:00
Frank Dellaert 39910717d6 Picked the winner 2013-06-24 16:25:02 +00:00
Frank Dellaert 34db300802 Fixed n<3 Jacobians 2013-06-24 16:18:48 +00:00
Frank Dellaert 3383e52c5f Split unit tests.... 2013-06-24 16:02:17 +00:00
Frank Dellaert 43fe036c32 Made more efficient by adding errors -> Jacobians back to 1*3, always. This is big savings if a landmark is seen from many poses. 2013-06-24 15:57:03 +00:00
Frank Dellaert aea4f31096 Fixed Jacobians, optimization works 2013-06-24 15:31:13 +00:00
Frank Dellaert b7dbcefa8b simplified measurements_ to vector 2013-06-24 12:15:01 +00:00
Frank Dellaert 4b412b0a4b keys and Jacobians 2013-06-24 12:07:21 +00:00
Frank Dellaert d041c5b8a8 Split up circle intersection code into three routines that are used in SmartRangeFactor 2013-06-24 08:24:56 +00:00
Frank Dellaert 5f5e481394 AHRS mechanization small efficiency change (in progress) 2013-06-21 00:21:18 +00:00
Alex Cunningham e7334b89bd Rebasing... 2013-06-20 17:08:30 +00:00
Richard Roberts 5ae4f21517 Added missing dll export tags to new functions 2013-06-20 16:05:23 +00:00
Alex Cunningham 456d1b5cf7 Cleanup: moving old serialization function to gtsam_unstable, renaming matlab serializaion test 2013-06-19 17:50:09 +00:00
Kyel Ok d85c773f7c Changes in AHRS - flat trim initialization added, some comments by Frank, aidingAvailablitiy function 2013-06-14 21:18:22 +00:00