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983 Commits (bfd5b5ab5dd002dce85099f32e7cd69607809c23)

Author SHA1 Message Date
Viorela Ila bfd5b5ab5d remove tree files 2010-03-08 20:35:35 +00:00
Richard Roberts 9aa76cfcbd 0-based index bug fix 2010-03-08 18:45:22 +00:00
Yong-Dian Jian 536dfd5ea1 fix calibrated camera 2010-03-08 15:43:35 +00:00
Richard Roberts 74f8102d29 Fixed warnings 2010-03-08 14:06:07 +00:00
Frank Dellaert d478767d4d righ-hand-side 2010-03-08 03:56:49 +00:00
Frank Dellaert 920d86ce35 Both GaussNewton and LM now exit immediately if initial error<absoluteThreshold, and pront out a messsage saying that if verbisty>=ERROR 2010-03-07 17:51:46 +00:00
Frank Dellaert d4447cbe48 inserted figures 2010-03-07 17:50:27 +00:00
Manohar Paluri e9ea8b426a fixed a bug in equals 2010-03-07 06:29:23 +00:00
Manohar Paluri 9b93731ed9 removed caching of size and dim in PairConfig as it was buggy 2010-03-07 06:16:49 +00:00
Frank Dellaert 2f72d585c5 be a bit more verbose 2010-03-07 00:10:02 +00:00
Alex Cunningham 3e2924a5bf Uncommented some testSQP tests, which do work 2010-03-06 22:51:03 +00:00
Alex Cunningham 7c3dbf164e Fixed bug in ternary functions 2010-03-06 17:27:01 +00:00
Alex Cunningham 294c7d806e Changed Doxyfile to make graphviz images - needs to have graphviz installed 2010-03-06 02:43:21 +00:00
Alex Cunningham 3cf36f4aee Added remaining terms for derivatives of ternary factors 2010-03-05 22:27:57 +00:00
Frank Dellaert 0eed38c7a0 VisualSLAM Graph is now a class and has convenience functions. These function as documentation (autocompletion and the like) and I think we should also have this style in addition to the generic add. 2010-03-05 15:48:01 +00:00
Frank Dellaert 5ef0400e06 put Factorization class in its own file, and added checks in constructors that take shared pointers, so we get some more meaningful output rather than *segmentation error* 2010-03-05 15:09:09 +00:00
Viorela Ila fccbaa2d6f right folders 2010-03-05 05:41:21 +00:00
Frank Dellaert 45b2eef13f Adjoint 2010-03-05 03:02:23 +00:00
Viorela Ila abf7758374 now datasets are in CitySALM/data/XXXX/xxxx.graph 2010-03-05 02:58:59 +00:00
Yong-Dian Jian 43df7375c0 add helper functions 2010-03-05 00:55:36 +00:00
Kai Ni d0d2aa8aee added erase method 2010-03-04 23:39:36 +00:00
Alex Cunningham d6c2b415a5 Added a check to NonlinearOptimizer to short circuit optimization if the initial error is below the absolute threshold. 2010-03-04 22:46:27 +00:00
Alex Cunningham 4ae9b72a35 Commented marginalGaussian() due to compile error 2010-03-04 22:40:01 +00:00
Richard Roberts 5f8b0e9341 Added marginalGaussian to get a marginal on a single variable from a GaussianFactorGraph 2010-03-04 22:03:40 +00:00
Alex Cunningham badc7b6ee6 Added keys() function to LieConfig to return an ordered list of keys 2010-03-04 13:21:48 +00:00
Frank Dellaert 98b98d14d7 Substantial updates 2010-03-04 06:34:45 +00:00
Frank Dellaert b9045528ee no more normalize. in compose? 
Also moved constructors around, one inline in h, others to cpp
 2010-03-03 05:35:00 +00:00
Frank Dellaert c9fcf95501 fixed some issues in SE(2) "branch" 2010-03-03 05:34:08 +00:00
Frank Dellaert 707627fb3a Rot2 "named constructors" (http://www.parashift.com/c++-faq-lite/ctors.html#faq-10.8): 
/** Named constructor from angle == exponential map at identity */
  static Rot2 fromAngle(double theta) { return Rot2(cos(theta),sin(theta));}

  /** Named constructor from cos(theta),sin(theta) pair, will *not* normalize! */
  static Rot2 fromCosSin(double c, double s);

  /** Named constructor that behaves as atan2, i.e., y,x order (!) and normalizes */ 
  static Rot2 atan2(double y, double x);

which are a bit more verbose, but at least won't cause hours of bug-tracking :-(

I also made most compose, inverse, and rotate functions into methods, with the global functions mostly calling the methods. Methods have privileged access to members and hence are typically much more readable.
 2010-03-03 03:31:53 +00:00
Frank Dellaert 85fe43949d arithmetic tests 2010-03-03 02:50:49 +00:00
Frank Dellaert eec6017b12 scalar multiplication 2010-03-03 02:49:06 +00:00
Kai Ni 23986349de added measured function 2010-03-02 21:43:39 +00:00
Frank Dellaert 190e87afb9 Correct exmap is indeed correct, but derivatives *still* do not check out. I'm starting to suspect numericalDerivative. 2010-03-02 17:56:26 +00:00
Frank Dellaert 32beb8c712 more refactoring, use different Rot3 constructor so no confusion 2010-03-02 06:16:11 +00:00
Kai Ni 680a6a28c1 added begin and end iterators 2010-03-02 06:07:46 +00:00
Frank Dellaert 33c6c51658 refactored and thoroughly checked rodrgues, added two more unit test 2010-03-02 05:45:19 +00:00
Frank Dellaert f956bae6a4 combined version only 2010-03-02 02:27:09 +00:00
Frank Dellaert 1093317fdc wedge 2010-03-02 02:25:27 +00:00
Frank Dellaert c62ebe3ea8 exponential map approximation 2010-03-02 02:24:38 +00:00
Frank Dellaert 224a2f82db Split off Lie Groups for Beginners 2010-03-02 01:47:58 +00:00
Alex Cunningham 20ac6b85c8 Added static dim() functions to remaining geometry types so that dimensions can be calculated on size alone. 2010-03-01 21:56:13 +00:00
Manohar Paluri e670e00e3b added const Tensor3expression 2010-03-01 18:08:18 +00:00
Manohar Paluri 8bf8e4dc1f added operator() to change values 2010-03-01 18:07:18 +00:00
Manohar Paluri 6073bdb679 made the function const 2010-03-01 18:05:24 +00:00
Alex Cunningham a46dc4cea0 Added threshold for lambda in NonlinearOptimizer so that if lambda has gotten unreasonably large, optimization will throw a runtime exception to prevent infinite loops where lambda goes to infinity. 2010-03-01 16:31:05 +00:00
Frank Dellaert c20498c688 Done with all transform_to derivatives 2010-03-01 01:41:54 +00:00
Frank Dellaert d9c185498e combined a few arithmetic tests 2010-03-01 01:38:26 +00:00
Frank Dellaert 4cb59438f7 documentation 2010-03-01 01:37:50 +00:00
Frank Dellaert 619190a818 new-style combined unrotate 2010-03-01 01:36:27 +00:00
Frank Dellaert 20ad08e48f new Pose3 derivatives still don't work :-( 2010-03-01 01:35:33 +00:00