Richard Roberts
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ee2f2e26be
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Moved findScatterAndDims to Scatter class constructor, moved code to combine multiple Hessians into Hessian constructor, and removed need to separately provide a vector of dimensions to this constructor - instead pulls dimensions out of Scatter.
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2013-03-18 19:27:58 +00:00 |
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Richard Roberts
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4278e2b9dc
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Including BayesTree.h instead of BayesTree-inl.h
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2013-03-13 18:56:25 +00:00 |
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Richard Roberts
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fe8fc6dd24
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Fix in findScatterAndDims to ignore null factors instead of dereferencing them
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2013-03-05 05:47:25 +00:00 |
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Richard Roberts
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7309aa0ffa
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Unit tests pass with piecewise VectorValues implementation (for fast permutations)
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2012-12-18 14:21:02 +00:00 |
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Richard Roberts
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5b9271cb97
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VV work
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2012-11-23 23:22:53 +00:00 |
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Richard Roberts
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600fcd027d
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Moved wrapper functions to header file to clean up code
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2012-10-28 06:21:15 +00:00 |
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Richard Roberts
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24111423d7
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Made specific eliminate and eliminateOne methods for SymbolicFactorGraph and GaussianFactorGraph and made them accessible from MATLAB
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2012-10-27 19:45:28 +00:00 |
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Richard Roberts
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89b50e7679
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Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
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2012-10-02 20:18:41 +00:00 |
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Richard Roberts
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4876cc7ff7
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Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list)
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2012-10-02 18:36:39 +00:00 |
Chris Beall
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4297d24c96
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changed tabs to spaces for consistent indentation in all of GTSAM
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2012-10-02 14:40:07 +00:00 |
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Richard Roberts
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fb409a2cc7
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Implemented partial elimination and sparse variable index remapping (Reduction) to enable Frank's new marginal code
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2012-10-01 16:12:41 +00:00 |
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Richard Roberts
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6d1b86c2e0
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Moved JacobianFactor type check/conversion functions into SubgraphSolver instead of GaussianFactorGraph and JacobianFactor
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2012-09-06 14:33:44 +00:00 |
Yong-Dian Jian
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574a9711cc
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add a conversion function from GaussianFactorGraph to JacobianFactorGraph
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2012-09-06 01:21:15 +00:00 |
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Yong-Dian Jian
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4443752a18
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clean the gfg to jfg conversion code
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2012-09-05 17:04:48 +00:00 |
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Richard Roberts
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b0508cc1a8
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Removed JacobianFactorGraph - moved its linear algebra interface to GaussianFactorGraph and redirected all uses of it to GaussianFactorGraph
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2012-09-04 22:42:09 +00:00 |
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Richard Roberts
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73f8c0830b
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Created new dense matrix functions in GaussianFactorGraph returning pair<Matrix,Vector> for easier access, and renamed functions to augmentedJacobian, augmentedHessian, jacobian, hessian
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2012-09-04 15:05:57 +00:00 |
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Richard Roberts
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3b897cddc9
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Added eliminateFrontals function to FactorGraph, SymbolicFactorGraph, and GaussianFactorGraph - eliminates requested number of frontal variables and returns the resulting conditional and remaining factor graph
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2012-08-30 19:58:33 +00:00 |
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Richard Roberts
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3e93c488e5
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Removed extra code that was sometimes maintaining a staircase pattern in JacobianFactor by sorting rows - a holdover from the staircase optimization that is no longer done now that we are using Eigen's QR
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2012-08-27 22:29:56 +00:00 |
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Richard Roberts
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1dbda3f7ed
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Standardized and corrected error handling on the linear size - underconstrained and negative systems always throw IndeterminantLinearSystemException, and all assertions checking for infinite values are removed. Also, we were not properly checking the result of Eigen's Cholesky, so sometimes elimination continued with incorrect matrices despite being underconstrained when Cholesky failed but did not produce NaN's.
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2012-08-22 22:40:27 +00:00 |
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Richard Roberts
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f704dbe0c2
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Fixed formatting
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2012-08-22 22:40:17 +00:00 |
Stephen Williams
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cf0c5bde3a
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Changed helper function signature to match the actual variables used in the function call
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2012-08-02 18:41:07 +00:00 |
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Richard Roberts
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d57fc32e74
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To simplify FactorGraph, removed convertCastFactors and dynamicCastFactors from FactorGraph - replaced their calls with in-place code to do the needed conversions
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2012-06-18 14:55:30 +00:00 |
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Richard Roberts
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1ce95c1d89
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Removed LDL in favor of Cholesky
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2012-05-15 15:49:14 +00:00 |
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Richard Roberts
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91e7dc5882
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Caching linearized factors in iSAM2, improves speed when linearization is expensive
Merge remote-tracking branch 'svn/branches/iSAM2_cache_linearized' into trunk
Conflicts:
.cproject
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2012-04-11 14:17:59 +00:00 |
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Richard Roberts
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75428b13fe
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Revert "Using FastVector instead of vector in most code called during elimination and solving"
This reverts commit 566631cb42249cb710ef01d07d583e563afccea9.
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2012-02-13 20:27:54 +00:00 |
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Richard Roberts
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965417ea1b
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Fixed indentation
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2012-02-10 19:47:35 +00:00 |
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Richard Roberts
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263b50d85a
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Using FastVector instead of vector in most code called during elimination and solving
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2012-02-10 15:56:01 +00:00 |
Frank Dellaert
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9bad4f67eb
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[with Alex and Richard] Fixed major bug when constraints are present, but it was never encountered because of the global useQR flag. Re-arranged some other things.
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2012-01-20 20:47:30 +00:00 |
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Richard Roberts
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8bf0b3c04c
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Small fix in printing debug info
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2012-01-18 20:42:53 +00:00 |
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Richard Roberts
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b031996bbc
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Fixed denseHessian bug - was only returning upper triangle, now returns full matrix
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2012-01-18 15:42:00 +00:00 |
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Frank Dellaert
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c792a73e9f
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rename of conditionals to conditional..
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2012-01-10 19:46:52 +00:00 |
Alex Cunningham
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927217ba4b
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Cleanup from FactorGraph-inl.h
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2011-12-21 16:59:37 +00:00 |
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Richard Roberts
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e75e4321af
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(in branch) slight simplification of HessianFactor eliminate code - fill in keys when the combined factor is first constructed so it is a complete factor
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2011-12-13 18:45:21 +00:00 |
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Richard Roberts
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e6a43d6330
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(in branch) Dogleg in ISAM2 in progress
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2011-11-12 21:19:46 +00:00 |
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Alex Cunningham
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bdc2d8f996
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Fixed switching to QR for constrained graphs
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2011-11-10 19:44:03 +00:00 |
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Richard Roberts
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53dfa5dbb9
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Merging Dogleg into trunk
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2011-11-05 21:29:02 +00:00 |
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Frank Dellaert
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03280f2446
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renamed sparse to sparseJacobian_
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2011-10-30 20:38:08 +00:00 |
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Richard Roberts
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5408ab0a2d
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Made GaussianFactorGraph::sparse and sparseJacobian functions take no arguments, and instead compute column indices internally
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2011-10-29 23:12:58 +00:00 |
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Frank Dellaert
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65616dbde5
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Matrix version of sparseJacobian for MATLAB wrapping, unit-tested in linear now
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2011-10-29 04:01:03 +00:00 |
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Alex Cunningham
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3b5c6e8cef
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Removed old Testable base class
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2011-10-20 02:11:28 +00:00 |
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Richard Roberts
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2b1f7f8446
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Added GaussianFactorGraph::denseHessian to get factor graph hessian
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2011-09-16 05:32:04 +00:00 |
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Frank Dellaert
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0e3b96db60
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Added exception handling code but has not yet been exercised! Chris will do so...
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2011-09-05 21:27:41 +00:00 |
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Frank Dellaert
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94f4f2959e
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header bloat
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2011-09-03 19:20:56 +00:00 |
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Richard Roberts
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b57210efcc
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Levenberg-Marquardt increases lambda when the Hessian is indefinite or negative by catching an exception
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2011-08-24 20:51:54 +00:00 |
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Alex Cunningham
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778001f63e
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assorted cleanup - mostly comments and adding implementations to cpp files, rather than in header files
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2011-06-13 20:01:58 +00:00 |
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Alex Cunningham
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fa4faa274a
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Merge branch 'prep_0.9.3'
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2011-06-13 16:55:31 +00:00 |
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Alex Cunningham
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b498d64554
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Added denseJacobian() to GaussianFactorGraph
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2011-06-04 17:18:25 +00:00 |
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Alex Cunningham
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79c09708e8
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Assorted cleanup to remove ublas references, switch more Vector/Matrix utility functions to use Eigen in templates, reimplemented backsubstitution with Eigen
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2011-06-02 20:35:02 +00:00 |
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Alex Cunningham
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e20561be73
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Merge branch 'eigen'
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2011-05-20 13:52:08 +00:00 |
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Frank Dellaert
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5c193422af
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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...).
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2011-03-24 19:27:12 +00:00 |