Avoid re-allocating vertical offsets
dellaert
parent
b9e3c3b116
commit
049631e530
106
.cproject
106
.cproject
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@ -600,7 +600,6 @@
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</target>
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<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -608,7 +607,6 @@
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</target>
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<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBinaryBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -656,7 +654,6 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -664,7 +661,6 @@
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</target>
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<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testSymbolicFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -672,7 +668,6 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -688,7 +683,6 @@
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</target>
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<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1120,7 +1114,6 @@
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</target>
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<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testErrors.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1350,46 +1343,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testBTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSF.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFMap.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testFixedVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1472,6 +1425,7 @@
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</target>
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2DOriented.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1511,6 +1465,7 @@
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</target>
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<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1518,6 +1473,7 @@
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</target>
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<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated3D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1531,6 +1487,46 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testBTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSF.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFMap.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testFixedVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testEliminationTree.run" path="build/gtsam/inference/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -1788,7 +1784,6 @@
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</target>
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<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G DEB</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1796,7 +1791,6 @@
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</target>
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<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G RPM</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1804,7 +1798,6 @@
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</target>
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<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G TGZ</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1812,7 +1805,6 @@
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</target>
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<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2441,6 +2433,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testVerticalBlockMatrix.run" path="build/gtsam/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testVerticalBlockMatrix.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check.tests" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -2579,7 +2579,6 @@
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</target>
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<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2587,7 +2586,6 @@
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</target>
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<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testJunctionTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2595,7 +2593,6 @@
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</target>
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<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNetB.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -3115,6 +3112,7 @@
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</target>
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<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testGaussianISAM2</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -65,9 +65,10 @@ namespace gtsam {
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/** Construct from a container of the sizes of each vertical block. */
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template<typename CONTAINER>
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VerticalBlockMatrix(const CONTAINER& dimensions, DenseIndex height, bool appendOneDimension = false) :
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rowStart_(0), rowEnd_(height), blockStart_(0)
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{
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VerticalBlockMatrix(const CONTAINER& dimensions, DenseIndex height,
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bool appendOneDimension = false) :
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variableColOffsets_(dimensions.size() + (appendOneDimension ? 2 : 1)),
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rowStart_(0), rowEnd_(height), blockStart_(0) {
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fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension);
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matrix_.resize(height, variableColOffsets_.back());
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assertInvariants();
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@ -75,26 +76,28 @@ namespace gtsam {
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/** Construct from a container of the sizes of each vertical block and a pre-prepared matrix. */
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template<typename CONTAINER, typename DERIVED>
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VerticalBlockMatrix(const CONTAINER& dimensions, const Eigen::MatrixBase<DERIVED>& matrix, bool appendOneDimension = false) :
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matrix_(matrix), rowStart_(0), rowEnd_(matrix.rows()), blockStart_(0)
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{
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VerticalBlockMatrix(const CONTAINER& dimensions,
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const Eigen::MatrixBase<DERIVED>& matrix, bool appendOneDimension = false) :
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matrix_(matrix), variableColOffsets_(dimensions.size() + (appendOneDimension ? 2 : 1)),
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rowStart_(0), rowEnd_(matrix.rows()), blockStart_(0) {
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fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension);
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if(variableColOffsets_.back() != matrix_.cols())
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throw std::invalid_argument("Requested to create a VerticalBlockMatrix with dimensions that do not sum to the total columns of the provided matrix.");
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if (variableColOffsets_.back() != matrix_.cols())
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throw std::invalid_argument(
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"Requested to create a VerticalBlockMatrix with dimensions that do not sum to the total columns of the provided matrix.");
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assertInvariants();
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}
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/**
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* Construct from iterator over the sizes of each vertical block. */
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/** Construct from iterator over the sizes of each vertical block. */
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template<typename ITERATOR>
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VerticalBlockMatrix(ITERATOR firstBlockDim, ITERATOR lastBlockDim, DenseIndex height, bool appendOneDimension = false) :
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rowStart_(0), rowEnd_(height), blockStart_(0)
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{
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VerticalBlockMatrix(ITERATOR firstBlockDim, ITERATOR lastBlockDim,
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DenseIndex height, bool appendOneDimension = false) :
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variableColOffsets_((lastBlockDim-firstBlockDim) + (appendOneDimension ? 2 : 1)),
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rowStart_(0), rowEnd_(height), blockStart_(0) {
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fillOffsets(firstBlockDim, lastBlockDim, appendOneDimension);
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matrix_.resize(height, variableColOffsets_.back());
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assertInvariants();
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}
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/** Copy the block structure and resize the underlying matrix, but do not copy the matrix data.
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* If blockStart(), rowStart(), and/or rowEnd() have been modified, this copies the structure of
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* the corresponding matrix view. In the destination VerticalBlockView, blockStart() and
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@ -203,18 +206,12 @@ namespace gtsam {
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template<typename ITERATOR>
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void fillOffsets(ITERATOR firstBlockDim, ITERATOR lastBlockDim, bool appendOneDimension) {
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variableColOffsets_.resize((lastBlockDim-firstBlockDim) + 1 + (appendOneDimension ? 1 : 0));
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variableColOffsets_[0] = 0;
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DenseIndex j=0;
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for(ITERATOR dim=firstBlockDim; dim!=lastBlockDim; ++dim) {
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for(ITERATOR dim=firstBlockDim; dim!=lastBlockDim; ++dim, ++j)
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variableColOffsets_[j+1] = variableColOffsets_[j] + *dim;
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++ j;
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}
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if(appendOneDimension)
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{
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variableColOffsets_[j+1] = variableColOffsets_[j] + 1;
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++ j;
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}
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}
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friend class SymmetricBlockMatrix;
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@ -24,9 +24,20 @@ using namespace std;
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using namespace gtsam;
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using boost::assign::list_of;
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list<size_t> L = list_of(3)(2)(1);
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vector<size_t> dimensions(L.begin(),L.end());
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//*****************************************************************************
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TEST(VerticalBlockMatrix, constructor) {
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VerticalBlockMatrix actual(list_of(3)(2)(1),
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TEST(VerticalBlockMatrix, Constructor1) {
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VerticalBlockMatrix actual(dimensions,6);
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EXPECT_LONGS_EQUAL(6,actual.rows());
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EXPECT_LONGS_EQUAL(6,actual.cols());
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EXPECT_LONGS_EQUAL(3,actual.nBlocks());
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}
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//*****************************************************************************
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TEST(VerticalBlockMatrix, Constructor2) {
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VerticalBlockMatrix actual(dimensions,
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(Matrix(6, 6) << 1, 2, 3, 4, 5, 6, //
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2, 8, 9, 10, 11, 12, //
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3, 9, 15, 16, 17, 18, //
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@ -38,6 +49,14 @@ TEST(VerticalBlockMatrix, constructor) {
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EXPECT_LONGS_EQUAL(3,actual.nBlocks());
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}
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//*****************************************************************************
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TEST(VerticalBlockMatrix, Constructor3) {
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VerticalBlockMatrix actual(dimensions.begin(),dimensions.end(),6);
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EXPECT_LONGS_EQUAL(6,actual.rows());
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EXPECT_LONGS_EQUAL(6,actual.cols());
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EXPECT_LONGS_EQUAL(3,actual.nBlocks());
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}
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//*****************************************************************************
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int main() {
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TestResult tr;
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