2aa43e11bd
Use KeyVector everywhere to avoid conversions
2018-11-08 10:10:32 -05:00
ab1f6562c8
Fixes compile errors when using BOOST version 1.61.0
2016-08-06 00:59:07 -04:00
fbe9aac41c
squash local changes on top of gtsam upstream pull from 6/14/2016
2016-06-18 23:13:59 -07:00
0372a959ee
Many small improvements, bug-fixes, and tests
2016-02-24 11:01:19 -08:00
b68f763fe7
Merged in feature/LinearSolverCleanup (pull request #148 )
...
This has
- Separate Scatter class
- change from updateATA to updateHessian as a virtual method
- Fixed-size BinaryJacobianFactor that overloads updateHessian
- SFM Timing Script that takes BAL files
2015-06-15 01:08:02 -07:00
f6575323d6
Sidestep Scatter altogether and just use HessianFactor keys_. In theory, n^3 lookup cost, but in practice (as keys is contiguous memory) just as fast as map.
2015-06-13 12:06:13 -07:00
41a0146b05
changed updateATA -> updateHessian. Much clearer
2015-06-12 00:20:37 -07:00
39ffe3ac32
Made updateATA a virtual method for a small saving in CPU, but more importantly to allow for custom Jacobian or HessianFactors...
2015-06-10 15:53:43 -04:00
c75a76c705
Moved raw access method (possibly to be removed!) to base class as does not assume regular...
2015-06-08 20:30:55 -04:00
ebf5746987
Fix some serialization warnings.
2015-03-06 16:12:09 +01:00
e13243b140
Merge branch 'develop' into feature/RegularFactors
...
Conflicts:
gtsam/linear/GaussianFactorGraph.cpp
gtsam/linear/JacobianFactor.cpp
gtsam/linear/JacobianFactor.h
tests/testPreconditioner.cpp
2015-01-01 17:50:27 -05:00
e5017984a1
traits_x -> traits
2014-12-26 16:47:51 +01:00
79d8514528
MASSIVE edit: made Testable its own concept, and moderinized Testable.h to use Testable traits. This required adding Testable traits in many classes.
2014-12-21 22:02:57 +01:00
2673e1664c
reapply a bug fix in isConstrained when no model exists
2014-12-13 01:05:24 -05:00
e539738fd0
Remove support for dual keys. Added finished() after all matrices and vectors. Remove buildDualGraph from GaussianFactorGraph. Remove support for multipliedHessians for non-linear equality constraints.
2014-12-12 17:23:31 -05:00
960d10582d
Add pure virtual function in GaussianFactor and empty dummy virtual function in Jacobian/Hessian Factor for the raw memory access functions
2014-11-17 16:17:11 -05:00
e2aef1b325
Merge remote-tracking branch 'origin/develop' into feature/BAD
2014-11-14 01:31:49 +01:00
fe7fc8a6ef
Remove raw memory access codes
2014-11-12 04:21:46 -05:00
85d6456a69
Add comments
2014-11-06 16:10:56 -05:00
b9e3c3b116
Made unsafe constructor private, but made ExpressionFactor<T> a friend.
2014-11-02 12:01:52 +01:00
cb69f2cb82
Fastest linearize so far. Putting 'unsafe' constructor in JacobianFactor itself makes a *huge* difference.
2014-11-02 11:40:48 +01:00
37b750411f
added gradientAtZero with raw memory access
2014-04-22 18:38:12 -04:00
d2b6b12bba
added raw memory access of hessianDiagonal
2014-03-17 19:28:49 -04:00
de27502738
Move Eigen magic inside function itself as Frank suggested.
2014-03-04 10:25:54 -05:00
b464b808ef
First cut on raw MultiplyHessianAdd for HessianFactor and JacobianFactor. Unit test is passed in testGaussianFactorGraphUnordered (multiplyHessianAdd3). Note the interface currently needs the accumulated diminsions of key variables. See GaussianFactorGraph::multiplyHessianAdd(double alpha,const double* x, double* y).
2014-03-04 01:58:34 -05:00
b837cb1b03
Declared hessianBlockDiagonal
2014-02-14 13:18:46 -05:00
76959d4d18
Added hessianDiagonal; works for Gaussian factor graphs with JacobianFactors
2014-02-14 01:14:32 -05:00
686051c032
Convert DOS line endings to UNIX
2014-01-09 16:39:27 -05:00
2dc40087d0
Fixed problem in ISAM2 marginalizeLeaves (with Luca, port from other repo)
2013-11-05 16:06:06 +00:00
6c1f851d51
small change as alpha=1
2013-10-29 14:09:58 +00:00
daf5938577
const correctness
2013-10-29 04:58:51 +00:00
4591835223
gradientAtZero is now implemented in the fcators (Richard says, need to work on efficiency)
2013-10-29 03:42:33 +00:00
df0d8bb63c
Allow other constructors to use fillTerms
2013-10-27 16:49:46 +00:00
6a383799d7
Skeleton code for GaussianFactorGraph::multiplyHessian
2013-10-24 15:52:32 +00:00
0042767020
Made splitConditional() public
2013-09-09 16:58:53 +00:00
f3fdf8abe9
Reenabled some code relating to Hessian factors that I had accidently left disabled
2013-08-18 17:17:09 +00:00
9a10242e96
Fixed warnings
2013-08-09 21:35:42 +00:00
b2b7b0b3f3
Fixing more compile problems: Switched BayesTree-inst.h function to use a functor struct rather than an address of a template function - seems to compile. Small include fixes elsewhere
2013-08-06 20:21:43 +00:00
0e80fe6418
Moved ordering tests, fixed serialization and constructors, to make all inference, symbolic, and linear tests pass
2013-08-05 22:31:09 +00:00
4ea9fda03b
Working on HessianFactor
2013-08-01 21:57:56 +00:00
0d05bf5ac5
Started on HessianFactor, converted Nonlinear stuff and disabled a lot of more advanced classes so the library compiles with nonlinear using unordered.
2013-08-01 21:57:43 +00:00
3ade190128
Renamed old classes to "Ordered" and removed "Unordered" name from new classes
2013-07-29 23:55:40 +00:00
89c4242b3f
Updated friend declarations to match swap in unit test group/name
2013-06-20 16:05:29 +00:00
eeef9eab32
Generating config.h file in CMake with quaternion mode flag, dataset paths. Also added CMake option to use system-installed Eigen, which works by generating a global eigen include file containing the corresponding include paths.
2013-04-25 15:57:15 +00:00
9ea7b02aca
Comment formatting
2013-03-20 14:56:25 +00:00
a54d177202
Added dll export tags and updated cmake scripts so that GTSAM can build as a shared library on windows
2013-03-13 18:56:21 +00:00
f892e25006
InvalidNoiseModel exception was not publically inheriting from std::exception
2012-12-03 19:08:11 +00:00
1755136b1b
Added JacobianFactor constructor from a GFG that merges the factors
2012-11-26 19:21:05 +00:00
eb21cf0911
Cleaned up information/augmentedInformation for GaussianFactor and GaussianConditional
2012-10-08 22:40:37 +00:00
4297d24c96
changed tabs to spaces for consistent indentation in all of GTSAM
2012-10-02 14:40:07 +00:00
Frank Dellaert
=
Abe
Frank
Frank Dellaert
Thomas Schneider
Sungtae An
thduynguyen
krunalchande
Luca
hchiu
Richard Roberts
Pablo Fernandez Alcantarilla
Alex Cunningham
Chris Beall