5be0bf6e28
Changed Value_t conventions to Value, fixed some install script problems
2010-10-09 03:53:27 +00:00
76f400232f
Fixes to make new merged library compile
2010-10-08 22:21:48 +00:00
1d52ff90a8
Merged simplelinear branch into trunk
2010-10-08 22:04:47 +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
9a805d68bf
add testLieScalar
2010-09-30 03:37:15 +00:00
ea92ad7be4
updated to sort U in addition to S & V such that A = U*S*V' holds when sort=true
2010-09-28 17:56:29 +00:00
51b1650b08
improved and moved DLT function to Matrix.cpp
2010-09-28 14:58:36 +00:00
c1fee1ab88
in spqr_householder, use heap when the expected array size is greater than 2M bytes, otherwise, use local stack. Could have a better fix globally
2010-09-25 13:46:16 +00:00
92539ed08c
Made numericalDerivative global functions inline so they can be included from multiple source files and linked together without name collisions
2010-09-21 20:36:33 +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
815d892806
Added TEST_UNSAFE to avoid exception checking in normal tests, as well as an assert_inequal() evaluation in TestableAssertions.h.
2010-08-30 20:54:12 +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
eed13e48d2
Switched to using LieVectors for vector types. Still some problems with numericalDerivative that have been worked around, but other functionality is intact.
2010-08-24 17:26:56 +00:00
77eda5ab8c
In all nonlinear factors and configs, it is only necessary to specify a key with a typedef Value_t for the associated value. This has been removed from factor template definitions, as it is too easy to use the wrong value. Also, no more string keys or linear symbol keys in nonlinear systems. Updated MastSLAM to work, and ISAM2 works without change
2010-08-23 19:44:17 +00:00
458cc52fff
Switched geometry to use primarily member functions for calculations with optional derivatives, so there are no more optional derivative functions. Also split Vector specializations for Lie into gtsam/base/LieVector.h which will later change into a real wrapper function. Specialized numericalDerivative to allow for functions to return doubles. Projects ISAM2, MastSLAM updated.
2010-08-22 21:45:53 +00:00
8e364cb34e
Improvements to the Lie objects, with new member/static functions in most of the geometry objects. Many of the functions that were previously global have been moved to static functions. See Lie.h for more details.
2010-08-19 20:03:06 +00:00
f1132359d4
Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs)
2010-08-19 17:23:19 +00:00
6aff189008
Enabled pragma once for Lie-inl.h to avoid redefinition errors
2010-08-10 19:50:12 +00:00
16d283d1e1
Added "TestableAssertions.h" as a header file to add specializations for operations on Testable objects, like assert_equal for vectors of Testable objects. The separate header file is so that changes don't require recompiling the entire library.
2010-08-10 16:58:42 +00:00
4bc3229670
-F Accelerate does not seem to work on all platforms. Replaced by explicit include.
2010-08-08 16:59:15 +00:00
99e4c09a7e
Added a FixedVector class that uses a bounded boost vector to allow for type-level dimension specification
2010-08-02 19:01:00 +00:00
8628ef8ed2
Bug fix in SPQRUtils makeStairs and corresponding unit test. Copied only part of matrix when any row in A had greater than m leading zeros.
2010-07-20 06:12:10 +00:00
7b85dc3ff4
CppUnitLite will now catch exceptions and tell you the error and the line number of the failing test. This is to avoid having to hunt for crashing tests out of a large battery of tests. Look at the results of the (still failing) wrap/testWrap for an example.
2010-07-16 19:30:38 +00:00
3438f89526
Removed the ldl library and added in a configure flag --enable-ldl to pull in ldl. Currently, it's probably a bad idea to actually use ldl, however, and nothing important is effected by its absense.
2010-07-16 18:16:18 +00:00
ec016e7668
A little better debugging message when backSubstituting a singular matrix
2010-07-16 17:11:40 +00:00
f0b424a3d1
Moved tests and timing scripts into subfolders
2010-07-16 17:10:16 +00:00
30b377e441
Fix makefiles to refer to $(top_srcdir) to enable parallel build
2010-07-13 19:13:07 +00:00
3d9ac5094b
Added debugging check for singular matrices in backSubstituteUpper and backSubstituteLower
2010-07-12 20:19:52 +00:00
80149afc30
delete Makefile.ins
2010-07-12 07:48:26 +00:00
fea5beb638
Re-organization: moving all files.
...
I re-organized into original cpp directory and 4 additional directories: base, geometry, slam, and tests.
cpp will be further renamed/sub-divided and contains the core library.
I wanted it not depend on geometry or slam, which necessitated moving complicated tests to a dedicated directory.
2010-07-12 07:16:31 +00:00
Alex Cunningham
Richard Roberts
Kai Ni
Chris Beall
Frank Dellaert
Yong-Dian Jian
John Rogers