1ec7d7e86e
Merge branch 'master' into retraction_name
2011-11-05 23:01:48 +00:00
2b9a3db085
Added Group concept, reworked naming and conventions to reduce unnecessary functions
2011-11-05 23:01:43 +00:00
53dfa5dbb9
Merging Dogleg into trunk
2011-11-05 21:29:02 +00:00
97a82add25
make check for entire library now works
2011-11-04 21:44:34 +00:00
28415ee219
Added EQUALITY for MATLAB tests
2011-11-04 00:27:43 +00:00
cbd6446bd7
Wrapped KalmanFilter and tested it in MATLAB
2011-11-04 00:27:02 +00:00
5408ab0a2d
Made GaussianFactorGraph::sparse and sparseJacobian functions take no arguments, and instead compute column indices internally
2011-10-29 23:12:58 +00:00
eb8fb31b2a
VectorValues documentation and interface cleanup, additional unit tests and bug fix.
2011-10-29 18:53:08 +00:00
65616dbde5
Matrix version of sparseJacobian for MATLAB wrapping, unit-tested in linear now
2011-10-29 04:01:03 +00:00
c120ee93f6
Added unit tests for higher-ary NonlinearFactors
2011-10-26 02:07:35 +00:00
2c53df3ee7
Simplified VectorValues interface and implementation, slight simplification to Permuted<>
2011-10-26 02:04:06 +00:00
7c55724ddd
Doxygen
2011-10-22 19:57:36 +00:00
5016ca4f25
Added determinant function to GaussianBayesNet and added a unit test
2011-10-21 21:45:40 +00:00
8535b13809
Made error a method again: all checks, let me know if project throw errors
2011-10-21 05:36:30 +00:00
ce5751e454
Moved test here from gtsam_experimental, as now works
2011-10-21 05:35:30 +00:00
3b5c6e8cef
Removed old Testable base class
2011-10-20 02:11:28 +00:00
56d1d6ae34
Fixed some Doxygen problems with global replace
2011-10-14 03:23:14 +00:00
af3c12a7df
Implemented N-way factor base class in NoiseModelFactor, added NonlinearFactor{3-6}, adapted NonlinearFactor1,2,3 and NonlinearConstraint1,2,3 to derive from NoiseModelFactor in a minimal way
2011-10-03 04:24:24 +00:00
63ca74e492
Fixed bug in multifrontal marginals caused by backwards permutations with LDL (seems to be an inconsistency in Eigen?). Added GaussianConditional constructor from any number of frontal and parent variables. Added several new unit tests on marginals. Fixed small bug in GaussianConditional non-const get_d_ and get_R_ functions that didn't account for multiple frontal variables.
2011-09-23 02:50:46 +00:00
222d5073b9
Relocated unit test
2011-09-23 02:48:34 +00:00
4569bb41a3
Fixed serialization of stereo cameras
2011-09-12 15:30:31 +00:00
936ee6d9fd
ISAM2 refactoring and documentation
2011-09-07 15:42:49 +00:00
b614f6bf42
header order
2011-09-03 04:47:43 +00:00
04e41f8c38
Split off NoiseModelFactor (a NonlinearFactor with a NoiseModel) from NonlinearFactor (a Factor with dim, linearize, and symbolic methods). NonlinearConstraint derives from NoiseModelFactor.
2011-09-03 03:46:19 +00:00
0c34b57b92
removed spurious typename
2011-09-02 13:53:36 +00:00
06fd0335cc
ISAM2 parameters struct instead of function arguments and hard-coded values, also documentation improvement and refactored IndicesFromFactors
2011-09-01 21:53:57 +00:00
b1c1b45aba
Renamed Key and Values to have a common name between linear and nonlinear examples
2011-08-30 19:54:50 +00:00
059de23b6e
Moved ISAM2 from inference to nonlinear
2011-08-30 17:15:50 +00:00
f45b1556ca
typedef typename ... doesn't compile for me. Removing typename makes it work.
2011-08-29 19:22:11 +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
fd07d61a2e
Add a robust noise model. Change SharedGaussian to SharedNoiseModel
2011-08-26 21:41:01 +00:00
d329d06b77
(in branch) moved ISAM2 into main gtsam library
2011-08-18 18:06:35 +00:00
964af8b21c
Commented use of GTSAM_MAGIC_KEY
2011-08-18 13:18:26 +00:00
778001f63e
assorted cleanup - mostly comments and adding implementations to cpp files, rather than in header files
2011-06-13 20:01:58 +00:00
322f61c537
added flags for dataset timing tests to change the number of trials
2011-06-13 17:14:24 +00:00
fa4faa274a
Merge branch 'prep_0.9.3'
2011-06-13 16:55:31 +00:00
36f9ebae90
Removed files full of broken code, removed simulated2D matlab files, condensed slam unit tests, added the only known test for SPCG in gtsam
2011-06-04 20:42:29 +00:00
c4d9208eeb
Added serialization for most linear/inference structures, simulated2D - serialization, except for example domains, should be complete
2011-06-04 16:52:54 +00:00
265b057580
Removed key sorting from NonlinearFactor
2011-06-04 14:54:27 +00:00
c44315fec8
Added more serialization - geometry is done, jacobian and hessian factors done, visual system done. Split projection factor out from visual SLAM into separate header
2011-06-03 21:32:27 +00:00
9160775d2a
Added nonlinear constraints to gtsam library
2011-06-03 15:07:11 +00:00
e9b8a48c43
ccolamd now installs and works with gtsam - all tests pass
2011-06-02 14:35:26 +00:00
040493474f
added more serialization
2011-05-20 18:43:42 +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
5057138ef1
Returning GaussianFactor instead of JacobianFactor from NonlinearFactor::linearize and NonlinearFactorGraph::linearize, so that HessianFactors may be returned as well.
2011-04-12 21:18:10 +00:00
f5eac05add
Merged factorization branch - sequential and multifrontal factorization with a function argument to specify the elimination method
2011-03-29 21:32:22 +00:00
07820af903
Fixed crashes when doing linearize/solve on nonlinear factor graphs with NULL factors
2011-03-29 19:51:50 +00:00
5c193422af
Major change, elimination functions are now passed an "Eliminate function", so you can select at run-time which factorization method is used (symbolic, QR, etc...).
2011-03-24 19:27:12 +00:00
726bed11b8
Removed exports for SharedGaussian and SharedDiagonal and moved them to testSerialization
2011-03-08 19:19:21 +00:00
fc3b668171
Removed boost.serialization export keys from noisemodel because they don't work outside of one test
2011-03-08 18:13:49 +00:00
1c1e47ca1f
Added serialization export keys directly to NoiseModel
2011-03-04 14:56:18 +00:00
a87a52035d
Serialization for (some) nonlinear factors now works, added virtual destructors to factor classes that needed them.
2011-03-03 17:16:13 +00:00
cee6b4523e
Improved serialization for noisemodel and NonlinearFactors, however currently fails on NonlinearFactorGraphs and some factors
2011-02-23 20:31:19 +00:00
4865f1a64d
Added more serialization functionality to noiseModel, but SharedGaussians segfault on test, so tests for Nonlinear graphs are commented out
2011-02-23 05:19:07 +00:00
1c27b1021f
Removed incorrect dynamic_pointer_cast that caused a compile error for non-virtual derived factors.
2011-02-18 22:10:21 +00:00
d8f05f78ff
Added marginal function to GaussianISAM, renamed and added comments to bayes tree
2011-02-11 22:08:07 +00:00
7407843214
Reworked nonlinear optimizer so that it only uses a solver member variable if you are using spcg. SPCG may be broken at this point, and its member variable will be removed soon.
2011-02-10 16:01:29 +00:00
06b08c6f85
Fixed bug with shared solvers in recursive LM nonlinear optimizer
2011-02-10 16:01:28 +00:00
719e851643
Added a functional version of LM optimization for comparison
2011-02-06 04:13:32 +00:00
251d83b41a
Disabled unit test for serialization of Values, as FastMap does not have serialization
2011-02-04 05:45:42 +00:00
37ee4f6cb3
Added a test for Ordering, added pop_back() to ordering, made changing the ordering in NonlinearISAM possible
2011-02-02 03:50:06 +00:00
e4cda1b360
Added accessor for NonlinearISAM, comments and whitespace
2011-01-29 00:53:15 +00:00
4880257e69
Merging hessianfactor branch, Cholesky is now default and GaussianFactor is virtual (see email to frankcvs)
2011-01-20 22:22:00 +00:00
4367a245bd
Added unit test for NonlinearISAM with a simple markov chain demo
2011-01-20 15:42:11 +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
9edeb1102c
Fixed bug in BayesTree shortcuts and marginals. Also added an input check to Permutation::PushToBack and PullToFront that catches the bad input of duplicate variables caused by the bug.
2010-12-21 18:23:56 +00:00
a8a584d38e
Rolling back last commit (undoing merge of hessianfactor branch) - does not compile on Linux, could be compiler or boost version problems. Also will probably break Alex's stuff so will work that out before merging.
2010-12-17 01:11:28 +00:00
de1892016d
Merged in hessianfactor branch, Cholesky is now default. This merge also includes improved timing statements with automatic outlining and low overhead
2010-12-17 00:51:51 +00:00
a6fd5ff9e2
Removed unused inference-inl.h and testOrdering.cpp, added unit test for ordering with unobserved variables.
2010-12-09 01:34:20 +00:00
e726f7c7af
remove backward compatible functions in NonlinearOptimizer
2010-11-21 22:00:22 +00:00
4e0b4021df
Added prior on the first pose in time*OnDataset
2010-11-19 16:30:06 +00:00
d6929d4409
Storing variable index in solver, saved between nonlinear iterations
2010-11-15 23:01:50 +00:00
15310ed6ad
Added fix to make TupleConfig1 work
2010-11-06 17:35:47 +00:00
898ca38f1c
Removed unmatched timing statement, reduced default trials in timing scripts
2010-11-03 22:52:24 +00:00
60e10d7380
Added timeSequentialOnDataset and timeMultifrontalOnDataset, removed timeLinearOnDataset
2010-11-03 22:35:02 +00:00
448ada270a
create n-way factor, return keys from nonlinear factor graph
2010-10-30 19:27:30 +00:00
201b16dabe
Added more print statements for timing
2010-10-29 15:00:57 +00:00
3743342534
Standardized function names - marginalFactor, marginalFactorGraph, marginalCovariance
2010-10-25 22:45:45 +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
fda11d7c15
Extra unit test to check that marginals from sequential and multifrontal are the same
2010-10-22 22:53:33 +00:00
8ff5bf5c7c
Bug fix in BayesTree marginal, re-enabled joint and unit tests
2010-10-22 22:11:23 +00:00
69c6d05ce1
config() changed to values() for consistency
2010-10-22 19:29:15 +00:00
f9e0ed07a3
Code cleanup: lean and mean VariableIndex (got rid of different types for different FG's, slots, and storage template), renamed Conditional.h and Factor.h to match class names ConditionalBase and FactorBase (not ideal names but prevents conflict with typedefs), added typedef for symbolic multifrontal solver.
2010-10-22 18:02:55 +00:00
1d94dacca0
make check passes with dense qr using lapack geqrf
2010-10-22 03:51:10 +00:00
812e3277ee
New linear solver interface, global inference functions removed.
2010-10-21 22:59:54 +00:00
f15fea202e
Change that may be reverted again soon - templated factor base type on key and make IndexFactor and IndexConditional for all current code. Did this to experiment with using symbols on the linear side in an efficient way but am putting this on hold for now because of complications. Will revisit and either fix or revert to int-only later in the week. Also moved some files to experimental and templating EliminationTree on FACTOR instead of FACTORGRAPH.
2010-10-19 21:31:13 +00:00
4071d4f673
small change to make boost work properly
2010-10-18 21:44:38 +00:00
4a7b8bad27
--with-boost no longer required, automatically finding boost
2010-10-17 17:06:28 +00:00
a9a066aec7
Removed hard constraints from gtsam library (with the exception of NonlinearEquality) and moved them to gtsam_experimental and MastSLAM
2010-10-17 03:56:05 +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
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
47b11749fe
Moved old elimination tree to gtsam_experimental
2010-10-13 22:07:52 +00:00
e545f59fb2
Inference::Marginal returns a factor graph
2010-10-13 20:41:26 +00:00
b56b0fe3a4
Moved test to inference and added ETree prototype code
2010-10-12 05:19:51 +00:00
fbdf9647f8
new test to drive elimination tree development
2010-10-12 00:15:26 +00:00
057050fa9f
renamed varid_t to Index
2010-10-11 21:14:35 +00:00
96eb939749
Fixed computing marginals in BayesTree
2010-10-11 16:02:01 +00:00
ccea5c79cb
unwhitened error in LinearApproxFactor now works
2010-10-11 04:47:57 +00:00
c92026884b
moved and enabled testKey, LinearApproxFactor creation/linearization works
2010-10-11 04:30:19 +00:00
c57c93a490
Re-enabled more constraints
2010-10-11 04:30:18 +00:00
45456aab8e
Fixed computing shortcuts in BayesTree
2010-10-10 03:10:03 +00:00
84d6b5be6a
Re-enabled computing marginals of a set of variables (Inference::Marginal(...))
2010-10-10 00:51:57 +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
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
5745226452
split LinearApproxFactor into an implementation header file
2010-09-22 15:34:03 +00:00
b09b7fffbb
Removed extraneous template parameter for LinearApproxFactor
2010-09-22 13:29:29 +00:00
3f937fdba4
changed include order to be more logical
2010-09-20 21:02:32 +00:00
55dedc97e3
Fixed include paths so that making individual unit tests works again
2010-09-11 16:54:50 +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
f594ebf562
Reworked testSerialization so that it works for geometry and simple planar objects. Currently only tested in boost 1.40, probably doesn't work under boost 1.44
2010-08-30 19:16:26 +00:00
a461680a2b
Removed extraneous headers that were causing problems related to boost serialization and added testSerialization with conditional compiling (--enable-serialization). Currently, the test is all commented out, and it should not affect those not using the flag.
2010-08-27 15:31:20 +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
5350f368cd
Removing binary
2010-08-23 03:44:25 +00:00
e0da1971fa
fixed ROS packages due to gtsam changes
2010-08-23 00:19:57 +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
c2d46ce8b3
Script to time the overhead of breaking up a problem into many factors (mimics a linear latent-variable model)
2010-08-21 17:54:59 +00:00
256697d345
Moved transform_[to|from] and [un]rotate to be static functions in classes
2010-08-20 21:47:30 +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
30c3f46b52
FusionTupleConfigs work correctly for optimization
2010-08-16 19:19:50 +00:00
977155d133
Added simpler interfaces for FusionTupleConfig for 1,2, and 3 variable types
2010-08-15 21:35:03 +00:00
a2fecf51c9
FusionTupleConfig is now a full config
2010-08-14 21:15:45 +00:00
f3ccfaf100
Added dummy initialization of LieConfigs from arbitrary other LieConfigs, FusionTupleConfigs can now be created from arbitrary other FusionConfigs.
2010-08-13 19:51:04 +00:00
f6dbee41d2
More of FusionTupleConfig works
2010-08-13 14:55:26 +00:00
c2a83759cb
Added experimental replacement for TupleConfig using boost.fusion - this should eventually make it possible to make nonlinear factors interchangable regardless of config type.
2010-08-12 15:23:03 +00:00
3fd36bca53
Added TupleConfig1 wrapper
2010-08-12 12:44:36 +00:00
5991d1edfd
Added a nonlinear factor to approximate a linear factor from MastSLAM
2010-08-10 16:59:22 +00:00
1c72d92365
Moved TransformConstraint into gtsam, cleaned up includes
2010-08-10 14:30:41 +00:00
4f9a60d41c
Nonlinear bounding constraints are now working for simple examples. Also, removed extraneous constraint test files.
2010-08-09 21:59:29 +00:00
efaca162cf
Added tests for nonlinear equality constraints, generalized equality constraints
2010-08-09 17:21:11 +00:00
38ea7d1ea5
Added more static optimization helper functions - can now just call optimizeLM(graph,config) or optimizeGN(graph,config) to get an optimized config.
2010-08-09 17:20:03 +00:00
0316a53f79
Removed spurious "using namespace noiseModel"
2010-08-08 03:10:29 +00:00
5ada49ea3a
Moved remaining equality constraint tests to testNonlinearEqualityConstraint. Added NonlinearEquality2, a binary constraint expressing exact equality between variables.
2010-08-06 20:07:55 +00:00
a55860eb1d
Reimplemented nonlinear constraints to remove the old dependency on using boost function pointers and allow for inequality and bounding constraints. Added simple equality constraints in simulated2D and new set of tests. Removed/disabled old tests until they can be worked into new structure.
2010-08-06 18:30:07 +00:00
7e3442286e
Added a Gauss-Newton static function for nonlinear optimization
2010-08-06 15:10:19 +00:00
3dfbb26bc7
Added new test structures that allow for nonfatal assertions: EXPECT, EXPECT_DOUBLES_EQUAL, EXPECT_LONGS_EQUAL. Use these to check several unrelated conditions in a test. testTupleConfig was updated to make use of the new test structures.
2010-08-06 14:23:12 +00:00
7c2ad06016
Added clear() and empty() to TupleConfig
2010-07-30 16:19:52 +00:00
d6157ab828
Added a static nonlinear optimization function that uses default ordering and thresholds and returns an updated config.
2010-07-22 21:17:02 +00:00
cf2b3db5a6
Added CHECK_EXCEPTION() that can test whether an operation throws a specific exception, and used it in example tests
2010-07-20 14:51:00 +00:00
d938f92844
Replaced instances of PairConfig with TupleConfig2, cleaned up documentation on TupleConfigs
2010-07-19 19:55:24 +00:00
2a2bc2f70f
multi-frontal solver works now as a result of flight delay
2010-07-18 20:23:23 +00:00
a3da89b63a
NonlinearConstraints are now implemented using the simple linearization method with quadratic merit function
2010-07-18 19:55:53 +00:00
230e124e68
Small changes to handle non out of source builds and makefile fixes.
2010-07-17 01:13:03 +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
b5c0f3cee8
Simplified Cluster class, elimination tree constructors tested, junction tree tests disabled for now.
2010-07-14 23:48:51 +00:00
20b09e5383
Re-organized FactorGraph, and de-templatized findAndRemoveFactors
2010-07-14 13:55:32 +00:00
c3a907127f
Created ClusterTree (duplicate of Junction tree for now, will split later). GaussianJunctionTree is no longer a template. TestJunctionTree now tests with SymbolicFactorGraph
2010-07-13 22:03:18 +00:00
30b377e441
Fix makefiles to refer to $(top_srcdir) to enable parallel build
2010-07-13 19:13:07 +00:00
559eaf8cc1
Moved smallExample to slam, as used in some project unit tests as well. [tests] no longer builds a local library as a consequence.
2010-07-13 05:26:19 +00:00
8ce5e321c8
Last part of re-organization for now: all things linear/Gaussian are now in the "linear" sub-directory.
2010-07-12 22:18:38 +00:00
f67220773a
split JunctionTree to GaussianJunctionTree
2010-07-12 21:34:03 +00:00
c9db61e137
Newly functional build: second part of re-organization. cpp now split into inference and nonlinear.
2010-07-12 16:36:58 +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
Frank Dellaert
Manohar Paluri
Stephen Williams
Duy-Nguyen Ta
Yong-Dian Jian
Kai Ni
Chris Beall