855e2aa18c
Logging works, see testNonlinearOptimizer.cpp
2013-10-30 15:40:22 +00:00
3c33e44c46
Fixed compile errors on windows
2013-10-29 04:24:14 +00:00
def9b84e45
Added virtual solve method to NonlinearOptimizer that you can override, e.g., with Ceres
...
See example in testNonlinearOptimizer
As part of this, I also merged SuccessiveLinearizationParams into NonlinearOptimizerParams, which is now in its own separate file NonlinearOptimizerParams.h
2013-10-25 18:27:43 +00:00
181881a8d7
Fix Vector_() to Vec() in tests
2013-10-22 03:56:51 +00:00
3c68d20ff2
Fixed calculate_nnz and added unit test
2013-10-03 16:50:20 +00:00
2b78eb8bec
Restored NonlinearFactorGraph::symbolic() and made a few other minor fixes.
2013-09-17 03:13:32 +00:00
bbb6ff90fd
Added tests and updated comments regarding using disconnected systems
2013-09-09 16:59:04 +00:00
06548ec8a9
Fixed bug in marginals introduced with unordered and modified a unit test to catch it.
2013-08-26 23:05:17 +00:00
c6cf4d2dab
Removed use of convenience libraries for tests - wasn't really supported in current version
2013-08-19 15:32:21 +00:00
4b12d6f794
Moved Symbol and LabeledSymbol to inference as they are no longer specific to nonlinear optimization
2013-08-19 15:32:16 +00:00
0f3732d7f5
Moved summarization back to MastSLAM - functionality largely replaced with newer elimination functionality
2013-08-16 16:32:20 +00:00
0b58b0166a
Fixed errors and warnings on linux
2013-08-12 21:32:51 +00:00
6410205e78
Fixed warnings
2013-08-11 18:18:06 +00:00
3c8d482271
Reenabled dogleg unit tests and moved relevant parts to other test files
2013-08-11 18:17:32 +00:00
f1fb9374c9
Merged from branch 'branches/unordered-isam2'
2013-08-11 00:57:54 +00:00
4e2f2c3822
Changed public back to protected
2013-08-11 00:40:12 +00:00
3228895c26
Fixed ISAM(2) unit tests
2013-08-11 00:40:04 +00:00
63e89656d2
Temporary debugging for marginalizeLeaves
2013-08-10 15:52:00 +00:00
789f2bee97
ISAM2 compiling and fixed several issues but still some unit tests failing
2013-08-09 21:35:47 +00:00
9a10242e96
Fixed warnings
2013-08-09 21:35:42 +00:00
073ea4fa0f
Re-enabled summarization test/implementation. Sequential versions re-implemented, but tests don't pass
2013-08-09 19:59:14 +00:00
375f7c16e6
Working on fixing ISAM
2013-08-06 19:56:48 +00:00
89310ceb09
Syntax
2013-08-06 19:56:45 +00:00
2d60d2cdfa
Fixed more unit tests
2013-08-06 18:04:40 +00:00
18b71ef110
Fixed some unit tests
2013-08-06 18:04:37 +00:00
49e93a71b0
No noise model in smallExample
2013-08-06 18:04:36 +00:00
e1991ff49c
Fixed warnings
2013-08-06 17:36:05 +00:00
3fbc0c739f
Fix in testGaussianBayesTree
2013-08-06 16:18:09 +00:00
77f0f0f5f6
Disabled testSerializationSLAM for the time being
2013-08-06 16:10:13 +00:00
5692fb5e98
Fixed HessianFactor combining into dense factor with ordering
2013-08-06 13:44:50 +00:00
e39d100b6a
Made most global unit tests compile, includes dogleg, iterative, kalman filter, etc
2013-08-06 13:44:22 +00:00
ede0805fac
Global find+replace to remove Ordered
2013-08-05 22:31:44 +00:00
cb7eb1b510
Find+replace Ordered headers
2013-08-05 22:31:33 +00:00
90b1349f23
Made NonlinearConjugateGradientOptimizer compile
2013-08-05 22:31:22 +00:00
55ce9eed1d
Updated smallExample
2013-08-05 22:31:21 +00:00
ac0f108106
Removed redundant test
2013-08-05 22:31:15 +00:00
4db55a3a6a
Removed 2 more ordered files
2013-08-02 22:09:46 +00:00
be0b27a003
Removed obsolete Ordered classes and unit tests that have already been converted
2013-08-02 22:09:40 +00:00
98623f9068
Adapted timeIncremental to work with landmarks
2013-07-30 14:32:11 +00:00
69a9d75dd6
Converting smallExample and GaussianISAM
2013-07-30 02:11:34 +00:00
3ade190128
Renamed old classes to "Ordered" and removed "Unordered" name from new classes
2013-07-29 23:55:40 +00:00
b857dab6a9
Renamed unit tests already converted to 'Obsolete'
2013-07-17 03:13:00 +00:00
d7767188b3
Merged from branch 'trunk'
2013-07-01 13:11:15 +00:00
77a1e9a485
Added ISAM2::marginalCovariance function.
2013-06-29 02:19:03 +00:00
123657e3d0
Merged from branch 'trunk'
2013-06-24 15:28:16 +00:00
14a71aeedc
Put header-implemented unit test functions in anonymous namespaces to avoid duplicate symbols in SINGLE_TEST_EXE mode
2013-06-20 16:05:24 +00:00
8f4688fd5b
Compiling serialization unit tests with /bigobj on windows
2013-06-20 16:05:21 +00:00
400e20420c
Adding headers to list of sources in top-level unit tests so that they show up in visual studio
2013-06-20 16:05:20 +00:00
8f9d5ec2e2
Merge branch 'trunk'
2013-06-17 21:15:57 +00:00
19f7da62dd
Refactored existing serialization functionality, added exposed interface for serialization
2013-06-12 19:30:20 +00:00
2196953188
Removed reference to nonexistant test_lib
2013-06-11 20:26:34 +00:00
0c7182b713
Removed unnecessary using statements
2013-06-11 14:36:50 +00:00
37f936d41c
Cleanup, whitespace
2013-06-11 14:36:50 +00:00
7b79cfc38c
Removed all non-test/timing cpp files from tests folder, small example now is header-only
2013-06-11 14:35:22 +00:00
d5e721a1d0
Continued work on unordered classes and elimination algorithm
2013-06-06 15:36:11 +00:00
9c61d15fb1
Caught corner case in summarization causing ccolamd to segfault
2013-05-23 18:12:00 +00:00
d05560687b
Avoid segfault on linking
2013-05-20 22:23:04 +00:00
07c4c95f18
Added serialization unit tests for binary files
2013-05-08 13:23:46 +00:00
4e0dbbc2b1
Added tests for each summarization mode
2013-05-08 10:14:19 +00:00
c74de0136c
Changed interface to allow for different modes
2013-05-08 10:14:10 +00:00
acd6e629e8
Moved older functions back to gtsam_unstable, cleanup. All tests pass. Rearranged summarization wrap interfaces.
2013-05-08 10:13:57 +00:00
81f63bcc0e
Rearranging summarization, now with unit test in gtsam
2013-05-08 10:11:45 +00:00
547323cc79
Fixed a bunch of compiler warnings
2013-04-05 21:34:04 +00:00
f773a34834
Renamed experimentalMarginalizeLeaves to marginalizeLeaves and added comment
2013-03-26 20:46:08 +00:00
e2aca2039e
Further fix in iSAM2 marginalization
2013-03-20 13:48:16 +00:00
596c5cdae8
Revamped ISAM2::marginalizeLeaves again, more tree algorithm instead of relying on sorted keys, hopefully correct this time.
2013-03-18 19:28:02 +00:00
6111c099ab
Improved build of shared vs static GTSAM libraries - now possible to build either one or both, executables link to the shared if it is being build, or otherwise to the static. Also removed separate shared/static CMake flags for gtsam_unstable, now uses the same GTSAM_BUILD_SHARED and GTSAM_BUILD_STATIC as gtsam.
2013-03-13 18:17:39 +00:00
72db4793c5
Fixed bugs in iSAM2 leaf marginalization found in HMF testing - set of factors to remove, adding new leaf clique from remaining variables. Also relies on bug fix in BayesTree::removeClique a couple of commits ago.
2013-03-05 05:47:27 +00:00
cd300bfeff
First pass at marginalization of leaves in iSAM2 - passes unit tests but needs to be tested on real data
2013-02-24 19:09:54 +00:00
7aa45115a1
Replaced depreciated boost::shared_dynamic_cast with boost::dynamic_pointer_cast to work with boost 1.53
2013-02-11 20:24:53 +00:00
6eafc9420e
update namespace mEstimator for unittests
2013-02-08 00:47:52 +00:00
013705232c
Maintain reverse-lookup inside of Ordering, to allow fast partial permutations, and modified iSAM2 to use partial permutations on Ordering. Removed InvertedOrdering and updated other GTSAM code and unit tests to use the Ordering reverse-lookup function "key" instead of calculating and inverse ordering.
2013-01-08 23:31:06 +00:00
c42bccbb3e
Increased chain length in timeiSAM2Chain
2012-12-18 14:21:49 +00:00
4e7393cc08
Added timing test for a long chain in iSAM2
2012-12-18 14:21:12 +00:00
7309aa0ffa
Unit tests pass with piecewise VectorValues implementation (for fast permutations)
2012-12-18 14:21:02 +00:00
bd285fbb52
Merge remote-tracking branch 'svn/trunk' into isam2-chain-optimization
...
Conflicts:
gtsam/linear/HessianFactor.cpp
gtsam/linear/VectorValues.cpp
2012-12-18 14:20:31 +00:00
5b9271cb97
VV work
2012-11-23 23:22:53 +00:00
aba48e4492
Commented out serialization in timeIncremental
2012-11-14 00:55:31 +00:00
0c3761a2a9
Reverted r14178, r14179, r14195, r14196 (isam2 chain optimizations) to move them to a branch
2012-11-11 20:51:03 +00:00
43778a6ed3
--update the distance() of robust noise model
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--add a nonlinear optimization unit test using robust noise model
2012-11-06 22:42:01 +00:00
43f08ce806
Increased chain length in timeiSAM2Chain
2012-11-05 01:04:16 +00:00
10f69cfca0
Added timing test for a long chain in iSAM2
2012-11-02 22:07:30 +00:00
46c1d0c512
Added joint marginal timing to timeIncremental script
2012-10-31 22:27:36 +00:00
4d4e17c2a7
Joint marginals using lowest-common-ancestor shortcuts. As part of this commit, caching of shortcuts is removed, the BayesTreeCliqueBase::marginal function computing single-variable shortcut marginals is removed, and the factor/frontal size checks in symbolic and discrete elimination are modified to permit eliminating empty factors or zero frontal variables.
2012-10-28 06:21:21 +00:00
279738c56f
Renamed unit tests to match file name
2012-10-28 06:21:17 +00:00
920bb52453
Moved eliminate and eliminateOne from inference to FactorGraph
2012-10-22 17:49:41 +00:00
656080ad2f
Fixed warning
2012-10-08 23:58:57 +00:00
3218a7bca4
Added missing main function
2012-10-08 23:03:02 +00:00
9793f8b7f7
Finalized batch and incremental timing scripts
2012-10-08 22:40:47 +00:00
f3a2887af1
Moved GaussianBayesTree tests into their own file, out of testGaussianISAM
2012-10-08 22:40:40 +00:00
b60189104c
Added checks for proper noise model dimension
2012-10-05 23:23:40 +00:00
054c326e3c
Added tests related to determining why non-unit sigmas were occurring in bayes tree - solution: Vector_() is dangerous
2012-10-04 20:23:45 +00:00
89b50e7679
Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
2012-10-02 20:18:41 +00:00
c44f8f7f80
Fixed examples from timing statement change (missed)
2012-10-02 18:49:48 +00:00
4876cc7ff7
Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list)
2012-10-02 18:36:39 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
96ce28625b
Timing marginals in timeIncremental
2012-10-01 16:12:43 +00:00
784e9f5755
Added overall timing scripts for batch and incremental (ISAM2) solving
2012-09-28 17:48:49 +00:00
aeb43bc8fc
Used technique described in http://gcc.gnu.org/onlinedocs/gcc/Diagnostic-Pragmas.html to turn off excessive warnings generated by boost lambda headers
2012-09-16 18:07:50 +00:00
89cd600165
avoid warnings
2012-09-16 17:54:43 +00:00
Frank Dellaert
Richard Roberts
Jing Dong
Alex Cunningham
Stephen Williams
Duy-Nguyen Ta
Yong-Dian Jian
Chris Beall