20a5eed051
Fixed keys in planarSLAM matlab example
2012-06-03 05:25:50 +00:00
f924d01bc3
Synchronized mixed case naming
2012-06-03 05:25:05 +00:00
8440939f27
Using symbol_shorthand instead of redundant kx, kl functions
2012-06-02 19:28:21 +00:00
a2512475c9
Symbol.h is now included just in time, no longer by default everywhere.
2012-06-02 19:05:38 +00:00
5160c2eb50
Significant API change in slam (GTSAM 2.0.1 or 2.1): to eliminate confusion and give the user more freedom in creating their own Keys, the different slam variants no longer create Symbol keys themselves. Instead, all interaction is done via Keys (which are just unordered, unsigned ints). All PoseSLAM unit tests and examples now just use sequential keys. However, a user can still create Keys using the Symbol constructor, which is illustrated in the landmark-based unit tests and examples.
2012-06-02 16:18:40 +00:00
069be2b143
Fixed examples compiling on windows
2012-05-28 20:48:32 +00:00
1ca9e7049e
Merge remote-tracking branch 'svn/trunk' into windows
...
Conflicts:
gtsam/linear/HessianFactor.h
gtsam/nonlinear/Marginals.cpp
2012-05-28 12:22:36 +00:00
ace4327897
reorg the nonlinear/linear parameters to accommodate the iterative solvers
2012-05-25 15:26:30 +00:00
90717dd583
Tweaking build settings for visual studio
2012-05-23 21:23:32 +00:00
bcfe39f4ae
Merge remote-tracking branch 'svn/trunk' into windows
...
Conflicts:
gtsam/nonlinear/Marginals.h
2012-05-23 18:55:18 +00:00
c2c9c4a982
Almost everything compiles and passes in windows
2012-05-23 18:51:49 +00:00
7cdd8e19da
Tweaking build scripts for visual studio
2012-05-23 18:51:42 +00:00
69e8923690
Plot covariance ellipses in MATLAB
2012-05-23 12:35:48 +00:00
8a69bb8bcb
Added marginals in MATLAB, but had to fix a bug in converting from 64 bit ints to size_t. This begs the question what happens on 32-bit machines with Symbols.
2012-05-22 19:01:40 +00:00
10456a153c
More complex Pose2SLAM example, synced up with manual (in progress)
2012-05-22 04:31:05 +00:00
3e9ceda062
Sync with C++ example
2012-05-21 21:53:26 +00:00
399a81911e
Fixed optimizer/marginals confusion
2012-05-21 21:52:50 +00:00
54f6f3629c
Added clone() functionality to nonlinear factors
2012-05-21 20:54:40 +00:00
5a397f0c25
Second localization example, with GPS-like factors
2012-05-21 05:18:06 +00:00
7a28e6d5cb
marginals
2012-05-20 22:02:11 +00:00
edb9c17962
Cleaned up planar SLAM example and created new Localization example
2012-05-20 20:31:33 +00:00
720ff3ac82
Added a flag to optionally remove examples from "all" target
2012-05-19 02:21:21 +00:00
3dc3f93145
Removed references to the old nonlinear optimizer parameters from Matlab
2012-05-15 18:46:51 +00:00
1ce95c1d89
Removed LDL in favor of Cholesky
2012-05-15 15:49:14 +00:00
7b183d1237
Renamed derived optimizer verbosity parameters to start with 'verbosity' to make more auto-complete friendly
2012-05-15 13:33:32 +00:00
ff3edc6823
Updated examples to use the new Marginals interface
2012-05-15 00:15:11 +00:00
7f0881f2e4
Updated examples and namespaces for the new NonlinearOptimizer interface
2012-05-14 20:25:20 +00:00
88f5e3d9b6
Merge remote-tracking branch 'svn/trunk' into NLO
...
Conflicts:
examples/Pose2SLAMExample_advanced.cpp
2012-05-14 18:35:15 +00:00
88b46000e5
UGM (undirected graphical model) example, small, see http://www.di.ens.fr/~mschmidt/Software/UGM/small.html
2012-05-03 05:09:22 +00:00
2365ade34c
fixed typo
2012-04-11 06:37:26 +00:00
7a24e1c940
Updated examples for new NonlinearOptimizer
2012-03-24 19:53:17 +00:00
0e17458e11
moved typedefs after Can's suggestion
2012-02-29 02:49:48 +00:00
1345a5fe86
fix small bugs in matlab wrapper to make it compiled. Still have runtime errors in when calling graph.optimize in matlab
2012-02-25 17:31:00 +00:00
342ccf644e
add .run targets for examples
2012-02-25 17:28:41 +00:00
8517f852fd
Removed unnecessary files, cmake flags
2012-02-24 15:47:23 +00:00
1d0aaacbd6
Removed use of GTSAM_MAGIC_KEY for constructing Symbols from strings
2012-02-22 23:38:09 +00:00
0a81c4e57a
Renamed NonlinearFactor[1-6] to NoiseModelFactor[1-6]
2012-02-20 21:52:47 +00:00
6f09998e10
Removed autotools from gtsam2 branch
2012-02-13 21:13:07 +00:00
5a3740daeb
Removed extraneous "shared" prefix from SharedNoiseModel named constructors
2012-02-12 17:41:57 +00:00
0d2a9018e3
Merged sub-branch into 2.0_prep branch
2012-02-08 22:05:24 +00:00
3d40f5e6fc
All unit tests pass with TypedSymbol removed
2012-02-07 04:58:11 +00:00
2f7f535f34
All unit tests pass with nonlinear factors templated on value instead of key
2012-02-07 04:02:20 +00:00
9f055fc812
bug fix in advanced example. Question: Currently, pose2SLAMOptimizer is in fact useless! Is it needed? Why don't we add more functionalities for it?
2012-02-06 03:33:40 +00:00
71e757d2cf
fix typo in "newDrecreaseThresholds" in NonlinearOptimizationParams
2012-02-05 23:00:57 +00:00
f4515d7b30
put back Value in slam sub-namespaces for the wrapper to interface with MATLAB. Cannot solve the return shared_ptr problem in NonlinearOptimizationParameters::newDecreaseThresholds
2012-02-05 22:34:35 +00:00
820b33bd55
(2.0_prep branch) Merged in virtual_values branch
2012-02-03 17:18:32 +00:00
7b49ac6b4b
moved visualSLAM namespace out of gtsam
2012-02-02 16:20:54 +00:00
26cdf28421
Renamed DynamicValues to Values and removed specialized derived Values classes
2012-02-02 16:16:46 +00:00
c43a9b4852
Added a variety of options to the cmake build, working on automating wrap execution/install
2012-01-31 19:59:15 +00:00
03b4743e7a
Removed unnecessary cpp file in vSLAMexample, added CMake support for examples, used static linking to the real gtsam for tests
2012-01-31 05:28:02 +00:00
537a1a3fae
Matlab wrapped classes now live within the gtsam namespace, meaning you have to use gtsamPose2 instead of just Pose2 in Matlab. This fixes the Point2 and Point3 issues we had with Matlab 2011b.
...
promote pose2SLAM planarSLAM etc. namespaces to be next to gtsam instead of within
2012-01-30 22:00:13 +00:00
2db224df3c
All compiled! Only SPCG and linear/SubgraphSolver are not fixed.
2012-01-29 22:10:35 +00:00
67aa0bf63d
Fixed compile problems with NonlinearOptimizationParameters, removed redundant typedef
2012-01-29 01:24:27 +00:00
37ba09d836
adding Pose2SLAM example
2012-01-28 02:51:35 +00:00
63dc9399b9
refactored Pose2SLAM
2012-01-28 02:31:44 +00:00
ac5d539afb
Added SRI's Find cmake scripts and small comment changes in other cmake scripts
2012-01-27 20:28:13 +00:00
b3df8d336a
For ASPN release, added temporary ENABLE_SPCG flag to avoid conflict with boost::variant
2012-01-27 16:43:31 +00:00
4e5e361d3f
Removed extraneous references to gtsam/inference/graph.h - now only in SubgraphSolver
2012-01-22 16:46:38 +00:00
379fe4e557
Removed references to "Landmark2" in matlab example
2012-01-10 14:55:42 +00:00
2572265096
Added noisemodel syntactic sugar so that matlab interface examples and tests work
2012-01-04 16:18:38 +00:00
7c87a4f58d
Included the inline header at the bottom of SubgraphSolver, NonlinearFactorGraph, NonlinearOptimization, and NonlinearOptimizer. This avoids having to include the '-inl.h' in subsequent projects.
2011-12-20 23:25:43 +00:00
17bf0f0169
Added static and shared versions of gtsam
2011-12-15 16:17:58 +00:00
61d05813ff
Library now builds and all tests run with cmake
2011-12-14 02:24:21 +00:00
3c8a7a29f9
updated visual SLAM examples to follow correct coordinate system conventions. The ISAM example now also uses the same input files as the general SFM example.
2011-12-12 03:57:48 +00:00
8bc83d4219
Changed -inl.h use with Values and TupleValues, removed instantiation macros for Values and TupleValues
2011-11-17 22:44:46 +00:00
96f77466c6
Removed need to include -inl.h for isam variants
2011-11-17 21:20:04 +00:00
83ccc6211e
Fixed Data subdirectory with wrong path for make dist
2011-11-12 21:18:44 +00:00
5798868ab7
Changed LieValues->Values. Did not change Values typedefs in slam domains, just adjusted namespaces
2011-11-06 19:08:42 +00:00
fd601b55d8
Replaced expmap with retract in kalman filter example
2011-11-05 03:10:49 +00:00
03280f2446
renamed sparse to sparseJacobian_
2011-10-30 20:38:08 +00:00
0a101eb50f
Fixed matlab wrapper of sparse to take no arguments
2011-10-30 20:25:08 +00:00
9ff18b4e4e
Wrapped GaussianFactorGraph.sparse and provided example usage in PlanarSLAMExample_easy
2011-10-29 04:28:47 +00:00
2d5602bbc8
Moved data directory, added make targets
2011-10-28 22:10:08 +00:00
980ed4d590
Fixed VectorValues, added linearize and denseJacobian/denseHessian
2011-10-28 16:25:15 +00:00
3fbc459d0f
planar SLAM example works in MATLAB !
2011-10-22 20:10:25 +00:00
7c55724ddd
Doxygen
2011-10-22 19:57:36 +00:00
f62a6bda1e
wrapping PlanarSLAMExample_easy
2011-10-21 16:56:50 +00:00
56d1d6ae34
Fixed some Doxygen problems with global replace
2011-10-14 03:23:14 +00:00
44b74c3d55
Fixed bad doxygen @Author: to correct @author style
2011-09-07 01:26:28 +00:00
817bb913ab
Removed duplicate header comment block.
2011-08-30 20:01:24 +00:00
27d062a0f0
Fixed compile errors due to new SharedGaussian definition
2011-08-27 13:50:35 +00:00
82fdb0a5f8
Added ExtendedKalmanFilter class and easyPoint2KalmanFilter example
2011-08-27 12:28:47 +00:00
295faba745
Fixed error in creation of Jacobian Prior from root of Bayes Net for the elaboratePoint2KalmanFilter example. Previously the permutation of R inside the GaussianCondition was ignored.
2011-08-27 12:27:13 +00:00
fd07d61a2e
Add a robust noise model. Change SharedGaussian to SharedNoiseModel
2011-08-26 21:41:01 +00:00
b39970ad9a
Removed dependency of eloboratePoint2KalmnFIlter example on the LinearizedFactor class
2011-08-25 13:34:06 +00:00
9be9251d1b
check with perfect measurements
2011-08-23 22:17:09 +00:00
24a897429a
A simple example of using gtsam for the camera resectioning problem
2011-08-23 22:10:50 +00:00
f4bfc435ff
Added first of the Kalman Filter examples
2011-08-22 15:35:24 +00:00
fd3acbd2c9
Plan/outline for Kalman filter examples
2011-08-19 21:27:47 +00:00
e62c2bf5e9
Comments and README file
2011-08-19 13:11:04 +00:00
964af8b21c
Commented use of GTSAM_MAGIC_KEY
2011-08-18 13:18:26 +00:00
a858ddb560
Added more comments to SimpleRotation in response to Stephen's comments
2011-08-12 19:24:59 +00:00
b9b8250f36
comments only
2011-08-11 17:18:40 +00:00
fa4faa274a
Merge branch 'prep_0.9.3'
2011-06-13 16:55:31 +00:00
e9b8a48c43
ccolamd now installs and works with gtsam - all tests pass
2011-06-02 14:35:26 +00:00
e20561be73
Merge branch 'eigen'
2011-05-20 13:52:08 +00:00
d35eb581ee
Removed experimental cmake files - see the branch cmake_build
2011-05-19 19:16:03 +00:00
85ff7853eb
experimental cmake support for linux
2011-05-09 16:53:08 +00:00
105041ae01
cmath rather than math.h
2011-03-21 15:05:40 +00:00
a09a9683f9
Added covariance calculation to advanced Planar SLAM example
2011-01-30 17:03:21 +00:00
880040a6f6
Added extra link libraries to examples and global tests required when building a static-only gtsam library
2010-12-29 03:25:52 +00:00
f4babac85c
Moved ISAMLoop to gtsam/nonlinear and renamed it to NonlinearISAM so it can be used elsewhere
2010-12-15 16:51:46 +00:00
06c319f42c
fix bugs
2010-11-24 02:16:35 +00:00
e726f7c7af
remove backward compatible functions in NonlinearOptimizer
2010-11-21 22:00:22 +00:00
8c91fe5f53
move things to vSLAM according to new policies
2010-10-30 05:31:22 +00:00
b53bcc7d66
add preconditioned conjugate gradient
2010-10-28 03:26:03 +00:00
ea3e137060
Fixed headers missing from distribution again
2010-10-26 22:03:29 +00:00
012e6b86cc
Added missing headers and data directory so they are included with the distribution
2010-10-26 21:24:13 +00:00
645fe1592a
Just fix some comments
2010-10-26 21:12:44 +00:00
daa50ffe9a
Formatting
2010-10-26 20:02:01 +00:00
07532b815b
Code formatting and inserting copyright notice
2010-10-26 15:01:34 +00:00
67ecfed86e
NonlinearOptimizer marginalCovariance returns mean as well
2010-10-26 13:51:39 +00:00
1873cd4158
Someone disabled vSLAMexample. Put it back. Also update its Makefile.am to be consistent with the new directory structure.
2010-10-26 01:11:35 +00:00
3743342534
Standardized function names - marginalFactor, marginalFactorGraph, marginalCovariance
2010-10-25 22:45:45 +00:00
46cfa84068
revised include files
2010-10-25 22:26:18 +00:00
c81f33eb9e
revised spcg examples
2010-10-25 22:21:53 +00:00
2c90e3d836
Moved the subdirectories that compile into libgtsam.la into a 'gtsam' subdirectory. Hopefully a good fix for the problem we had trying to make a gtsam distribution, that the source directory may not be called 'gtsam'.
2010-10-25 20:10:33 +00:00
3bb1f26916
adapt spcg to new optimization interface
2010-10-23 05:47:29 +00:00
a411cf9683
small change to covariance stuff
2010-10-22 23:15:27 +00:00
c47893f105
added method to get covariance to optimizer
2010-10-22 21:27:46 +00:00
69c6d05ce1
config() changed to values() for consistency
2010-10-22 19:29:15 +00:00
4b137de4a6
add README file for vSLAMexample. This file explains data format and coordinate frame convention used in these examples.
2010-10-22 05:00:32 +00:00
1d94dacca0
make check passes with dense qr using lapack geqrf
2010-10-22 03:51:10 +00:00
58f23eb6ad
- add include ClusterTree-inl.h into JunctionTree-inl to avoid the "Clique->addChild(...)" undefined reference issue
...
- clean up ISAMLoop and fix comments in vISAMexample
2010-10-22 03:40:47 +00:00
f354f8183d
Added examples of using NonlinearOptimizer with multifrontal elimination
2010-10-22 02:53:27 +00:00
acde4d99a5
Removed remaining references to denseQR, some fixes in NonlinearOptimizer
2010-10-22 01:46:33 +00:00
6f2ef4ed72
Pacified warnings
2010-10-22 00:17:08 +00:00
31a080e4bf
vISAMexample is now working.
2010-10-21 23:32:51 +00:00
b9ec67cc3f
add data for vISAMexample
2010-10-21 22:55:55 +00:00
96057df75b
delete old files
2010-10-21 22:53:43 +00:00
5add714480
delete old files
2010-10-21 22:52:09 +00:00
099552dbc9
- rename vSLAMexample to vSFMexample
...
- add vISAMexample. NOT working yet
2010-10-21 22:51:20 +00:00
6458ac46f8
put pragma once for ISAM-inl
...
fix some path problem in vSLAMexample
2010-10-21 22:49:37 +00:00
adc8921f3b
separate the examples into easy/advanced style, remove shared pointer in easy examples, unify the convention
2010-10-21 21:38:38 +00:00
fbcbea5f61
- Fix threshold in Rot3 Logmap for Linux 32bit. Should be 1e-5 instead of 1e-10
...
- The fix makes PriorFactor and PosePrior in vSLAM work.
- Now vSLAMexample can use PosePrior. It doesn't need hard constraints. Also, the gaussNewton can converge.
2010-10-21 17:29:29 +00:00
c4df80df55
sample for new optimization interface
2010-10-21 01:51:23 +00:00
fa56595650
Fix vSLAMexample compilation error. Update to new Optimizer interface.
...
Fix data reading interface. Now the program requires a Data folder to be specified.
2010-10-20 18:50:41 +00:00
95f91ab831
add Optimizer typedef to visualSLAM.h
2010-10-19 02:58:13 +00:00
4071d4f673
small change to make boost work properly
2010-10-18 21:44:38 +00:00
1e01e31363
add a self-contained example to demonstrate spcg solver
2010-10-18 20:36:01 +00:00
9d8498617c
easy interfaces of nonlinear optimization
2010-10-17 18:52:52 +00:00
4a7b8bad27
--with-boost no longer required, automatically finding boost
2010-10-17 17:06:28 +00:00
47a668866e
set default path for CCOLAMD and DenseQR
2010-10-16 02:29:17 +00:00
bc36e653fd
depend on external CCOLAMD and DenseQR
2010-10-16 01:55:47 +00:00
130d9d2797
Made EliminationTree generic, with Symbolic and Gaussian unit tests
2010-10-15 15:53:36 +00:00
d55e72ae53
- Add vSLAMexample
...
- Add addPosePrior in visualSLAM.h
- Don't know how to install/copy Data folder
2010-10-15 02:16:21 +00:00
24d499039f
prepend license information on all the codes
2010-10-14 04:54:38 +00:00
5cbf67eeba
move colamd and spqr_mini out of gtsam
2010-10-14 02:41:08 +00:00
540608fed4
typo
2010-10-14 01:08:22 +00:00
4eab976e5c
Basic Pose2SLAM example. Marginals still missing.
2010-10-14 01:07:55 +00:00
07bda5aa97
Changed linear config names to *Values, updated comments
2010-10-09 03:09:58 +00:00
6002931e12
Renamed LieConfig and TupleConfig to use Values
2010-10-09 03:09:55 +00:00
1d52ff90a8
Merged simplelinear branch into trunk
2010-10-08 22:04:47 +00:00
0fb6c1320e
Renamed example to be more consistent, pulled in Ordering in NonlinearOptimizer
2010-10-08 18:39:19 +00:00
f6ada87314
Removed LDL, ConstraintOptimizer things, and FusionTupleConfig. Added *.valgrind run commands so that tests can be checked for memory errors. Removed some extraneous stuff in configure.ac
2010-10-02 23:38:01 +00:00
55dedc97e3
Fixed include paths so that making individual unit tests works again
2010-09-11 16:54:50 +00:00
5650f5af5e
Removed binaries and generated files
2010-09-10 13:20:01 +00:00
80d61d5f9f
Fixed bug to make sure that carmen_readers output poses in the correct frame
2010-09-09 19:30:35 +00:00
d17aef492c
Added two example scripts to gtsam from the tutorial, with a single planar example that either contains all typedefs and manually creates the structure, and another that uses planarSLAM.h. Also added a BearingRange helper function to planarSLAM
2010-08-26 21:21:15 +00:00
23a30f8475
Removed remaining global lie functions on lie objects and configs, switched the Lie base class to a simple concept check function, fixed build script for examples. ISAM2 and MastSLAM verified as compiling.
2010-08-26 19:55:40 +00:00
9dd1d6bc10
Added examples folder with simple rotation over one varialble - build script not finalized
2010-08-26 18:46:48 +00:00
Frank Dellaert
Richard Roberts
Yong-Dian Jian
Alex Cunningham
Stephen Williams
Chris Beall
Duy-Nguyen Ta
Kai Ni