Moved test to inference and added ETree prototype code
Frank Dellaert
parent
fbdf9647f8
commit
b56b0fe3a4
412
.cproject
412
.cproject
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@ -322,14 +322,6 @@
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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="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.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="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -356,6 +348,7 @@
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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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@ -363,6 +356,7 @@
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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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@ -410,6 +404,7 @@
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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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@ -417,6 +412,7 @@
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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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@ -424,6 +420,7 @@
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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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@ -439,11 +436,20 @@
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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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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.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" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -478,7 +484,6 @@
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</target>
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<target name="testGraph.run" path="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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@ -574,7 +579,6 @@
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</target>
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<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testInference.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -582,7 +586,6 @@
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</target>
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<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -590,7 +593,6 @@
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</target>
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<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -598,7 +600,6 @@
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</target>
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<target name="testJunctionTree.run" path="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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@ -606,7 +607,6 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="tests" 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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@ -614,7 +614,6 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="tests" 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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@ -822,6 +821,7 @@
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</target>
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<target name="testGaussianISAM.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>testGaussianISAM.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -829,7 +829,6 @@
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</target>
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<target name="testSymbolicFactorGraph.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>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -933,6 +932,7 @@
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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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@ -1084,7 +1084,6 @@
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</target>
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<target name="tests/testEliminationTree.run" path="build/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/testEliminationTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -1108,12 +1107,19 @@
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</target>
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<target name="tests/testConditional.run" path="build/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/testConditional.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="tests/testSymbolicFactorGraph.run" path="build/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/testSymbolicFactorGraph.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="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1276,7 +1282,6 @@
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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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@ -1316,7 +1321,6 @@
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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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@ -1324,7 +1328,6 @@
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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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@ -1372,7 +1375,6 @@
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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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@ -1394,6 +1396,86 @@
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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="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>install</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="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</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" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</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="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</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="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>dist</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="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>inference/tests/testEliminationTree</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="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>slam/tests/testGaussianISAM2</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="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>inference/tests/testVariableIndex</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="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>inference/tests/testJunctionTree</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="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>linear/tests/testGaussianJunctionTree</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="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1490,86 +1572,6 @@
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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="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>install</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="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</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" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</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="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</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="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>dist</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="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>inference/tests/testEliminationTree</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="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>slam/tests/testGaussianISAM2</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="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>inference/tests/testVariableIndex</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="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>inference/tests/testJunctionTree</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -1924,14 +1926,6 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testGaussianFactor.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -1958,6 +1952,7 @@
|
|||
</target>
|
||||
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>tests/testBayesTree.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -1965,6 +1960,7 @@
|
|||
</target>
|
||||
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testBinaryBayesNet.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2012,6 +2008,7 @@
|
|||
</target>
|
||||
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSymbolicBayesNet.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2019,6 +2016,7 @@
|
|||
</target>
|
||||
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>tests/testSymbolicFactor.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2026,6 +2024,7 @@
|
|||
</target>
|
||||
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2041,11 +2040,20 @@
|
|||
</target>
|
||||
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>tests/testBayesTree</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testGaussianFactor.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2080,7 +2088,6 @@
|
|||
</target>
|
||||
<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testGraph.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2176,7 +2183,6 @@
|
|||
</target>
|
||||
<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testInference.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2184,7 +2190,6 @@
|
|||
</target>
|
||||
<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testGaussianBayesNet.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2192,7 +2197,6 @@
|
|||
</target>
|
||||
<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testGaussianFactor.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2200,7 +2204,6 @@
|
|||
</target>
|
||||
<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testJunctionTree.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2208,7 +2211,6 @@
|
|||
</target>
|
||||
<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSymbolicBayesNet.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2216,7 +2218,6 @@
|
|||
</target>
|
||||
<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2424,6 +2425,7 @@
|
|||
</target>
|
||||
<target name="testGaussianISAM.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testGaussianISAM.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
|
|
@ -2431,7 +2433,6 @@
|
|||
</target>
|
||||
<target name="testSymbolicFactorGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
|
|
@ -2535,6 +2536,7 @@
|
|||
</target>
|
||||
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testErrors.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2686,7 +2688,6 @@
|
|||
</target>
|
||||
<target name="tests/testEliminationTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>tests/testEliminationTree.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
|
|
@ -2710,12 +2711,19 @@
|
|||
</target>
|
||||
<target name="tests/testConditional.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>tests/testConditional.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="tests/testSymbolicFactorGraph.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>tests/testSymbolicFactorGraph.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="all" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2878,7 +2886,6 @@
|
|||
</target>
|
||||
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSimulated2DOriented.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2918,7 +2925,6 @@
|
|||
</target>
|
||||
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSimulated2D.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2926,7 +2932,6 @@
|
|||
</target>
|
||||
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>testSimulated3D.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2974,7 +2979,6 @@
|
|||
</target>
|
||||
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>tests/testGaussianISAM2</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2996,6 +3000,86 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>install</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>all</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>dist</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>inference/tests/testEliminationTree</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>inference/tests/testVariableIndex</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>inference/tests/testJunctionTree</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -3092,86 +3176,6 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>install</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>all</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>dist</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>inference/tests/testEliminationTree</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>inference/tests/testVariableIndex</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>inference/tests/testJunctionTree</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
|
|||
|
|
@ -18,14 +18,14 @@ using namespace boost::assign;
|
|||
using namespace std;
|
||||
using namespace gtsam;
|
||||
|
||||
static const Index vx2=0;
|
||||
static const Index vx1=1;
|
||||
static const Index vl1=2;
|
||||
static const Index vx2 = 0;
|
||||
static const Index vx1 = 1;
|
||||
static const Index vl1 = 2;
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( SymbolicFactorGraph, eliminate2 )
|
||||
TEST( SymbolicFactorGraph, EliminateOne )
|
||||
{
|
||||
// create a test graph
|
||||
// create a test graph
|
||||
SymbolicFactorGraph fg;
|
||||
fg.push_factor(vx2, vx1);
|
||||
|
||||
|
|
@ -43,24 +43,24 @@ TEST( SymbolicFactorGraph, constructFromBayesNet )
|
|||
{
|
||||
// create expected factor graph
|
||||
SymbolicFactorGraph expected;
|
||||
expected.push_factor(vx2,vx1,vl1);
|
||||
expected.push_factor(vx1,vl1);
|
||||
expected.push_factor(vx2, vx1, vl1);
|
||||
expected.push_factor(vx1, vl1);
|
||||
expected.push_factor(vx1);
|
||||
|
||||
// create Bayes Net
|
||||
Conditional::shared_ptr x2(new Conditional(vx2, vx1, vl1));
|
||||
Conditional::shared_ptr l1(new Conditional(vx1, vl1));
|
||||
Conditional::shared_ptr x1(new Conditional(vx1));
|
||||
// create Bayes Net
|
||||
Conditional::shared_ptr x2(new Conditional(vx2, vx1, vl1));
|
||||
Conditional::shared_ptr l1(new Conditional(vx1, vl1));
|
||||
Conditional::shared_ptr x1(new Conditional(vx1));
|
||||
|
||||
BayesNet<Conditional> bayesNet;
|
||||
bayesNet.push_back(x2);
|
||||
bayesNet.push_back(l1);
|
||||
bayesNet.push_back(x1);
|
||||
BayesNet<Conditional> bayesNet;
|
||||
bayesNet.push_back(x2);
|
||||
bayesNet.push_back(l1);
|
||||
bayesNet.push_back(x1);
|
||||
|
||||
// create actual factor graph from a Bayes Net
|
||||
// create actual factor graph from a Bayes Net
|
||||
SymbolicFactorGraph actual(bayesNet);
|
||||
|
||||
CHECK(assert_equal((SymbolicFactorGraph)expected,actual));
|
||||
CHECK(assert_equal((SymbolicFactorGraph)expected,actual));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -70,18 +70,18 @@ TEST( SymbolicFactorGraph, push_back )
|
|||
SymbolicFactorGraph fg1, fg2, expected;
|
||||
|
||||
fg1.push_factor(vx1);
|
||||
fg1.push_factor(vx2,vx1);
|
||||
fg1.push_factor(vx2, vx1);
|
||||
|
||||
fg2.push_factor(vx1,vl1);
|
||||
fg2.push_factor(vx2,vl1);
|
||||
fg2.push_factor(vx1, vl1);
|
||||
fg2.push_factor(vx2, vl1);
|
||||
|
||||
expected.push_factor(vx1);
|
||||
expected.push_factor(vx2,vx1);
|
||||
expected.push_factor(vx1,vl1);
|
||||
expected.push_factor(vx2,vl1);
|
||||
expected.push_factor(vx2, vx1);
|
||||
expected.push_factor(vx1, vl1);
|
||||
expected.push_factor(vx2, vl1);
|
||||
|
||||
// combine
|
||||
SymbolicFactorGraph actual = combine(fg1,fg2);
|
||||
SymbolicFactorGraph actual = combine(fg1, fg2);
|
||||
CHECK(assert_equal(expected, actual));
|
||||
|
||||
// combine using push_back
|
||||
|
|
@ -89,6 +89,301 @@ TEST( SymbolicFactorGraph, push_back )
|
|||
CHECK(assert_equal(expected, fg1));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
||||
/**
|
||||
* An elimination tree is a tree of factors
|
||||
*/
|
||||
class ETree: public Testable<ETree> {
|
||||
|
||||
public:
|
||||
|
||||
typedef boost::shared_ptr<Factor> sharedFactor;
|
||||
typedef boost::shared_ptr<ETree> shared_ptr;
|
||||
|
||||
private:
|
||||
|
||||
Index key_; /** index associated with root */
|
||||
list<sharedFactor> factors_; /** factors associated with root */
|
||||
list<shared_ptr> subTrees_; /** sub-trees */
|
||||
|
||||
typedef pair<SymbolicBayesNet, Factor> Result;
|
||||
|
||||
/**
|
||||
* Recursive routine that eliminates the factors arranged in an elimination tree
|
||||
*/
|
||||
Result eliminate_() const {
|
||||
|
||||
SymbolicBayesNet bn;
|
||||
|
||||
set<Index> separator;
|
||||
|
||||
// loop over all factors associated with root
|
||||
// and set-union their keys to a separator
|
||||
BOOST_FOREACH(const sharedFactor& factor, factors_)
|
||||
BOOST_FOREACH(Index key, *factor)
|
||||
if (key != key_) separator.insert(key);
|
||||
|
||||
// for all children, eliminate into Bayes net
|
||||
BOOST_FOREACH(const shared_ptr& child, subTrees_)
|
||||
{
|
||||
Result result = child->eliminate_();
|
||||
bn.push_back(result.first);
|
||||
BOOST_FOREACH(Index key, result.second)
|
||||
if (key != key_) separator.insert(key);
|
||||
}
|
||||
|
||||
// Make the conditional from the key and separator, and insert it in Bayes net
|
||||
vector<Index> parents;
|
||||
std::copy(separator.begin(), separator.end(), back_inserter(parents));
|
||||
Conditional::shared_ptr conditional(new Conditional(key_, parents));
|
||||
bn.push_back(conditional);
|
||||
|
||||
// now create the new factor from separator to return to caller
|
||||
Factor newFactor(separator.begin(), separator.end());
|
||||
return Result(bn, newFactor);
|
||||
}
|
||||
|
||||
public:
|
||||
|
||||
/** default constructor */
|
||||
ETree(Index key = 0) :
|
||||
key_(key) {
|
||||
}
|
||||
|
||||
/** add a factor */
|
||||
void add(const sharedFactor& factor) {
|
||||
factors_.push_back(factor);
|
||||
}
|
||||
|
||||
/** add a subtree */
|
||||
void add(const shared_ptr& child) {
|
||||
subTrees_.push_back(child);
|
||||
}
|
||||
|
||||
void print(const std::string& name) const {
|
||||
cout << name << " (" << key_ << ")" << endl;
|
||||
BOOST_FOREACH(const sharedFactor& factor, factors_)
|
||||
factor->print(name + " ");
|
||||
BOOST_FOREACH(const shared_ptr& child, subTrees_)
|
||||
child->print(name + " ");
|
||||
}
|
||||
|
||||
bool equals(const ETree& expected, double tol) const {
|
||||
// todo
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Eliminate the factors to a Bayes Net
|
||||
*/
|
||||
SymbolicBayesNet eliminate() const {
|
||||
|
||||
// call recursive routine
|
||||
Result result = eliminate_();
|
||||
return result.first;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
// build hardcoded tree
|
||||
ETree::shared_ptr buildHardcodedTree(const SymbolicFactorGraph& fg) {
|
||||
|
||||
ETree::shared_ptr leaf0(new ETree);
|
||||
leaf0->add(fg[0]);
|
||||
leaf0->add(fg[1]);
|
||||
|
||||
ETree::shared_ptr node1(new ETree(1));
|
||||
node1->add(fg[2]);
|
||||
node1->add(leaf0);
|
||||
|
||||
ETree::shared_ptr node2(new ETree(2));
|
||||
node2->add(fg[3]);
|
||||
node2->add(node1);
|
||||
|
||||
ETree::shared_ptr leaf3(new ETree(3));
|
||||
leaf3->add(fg[4]);
|
||||
|
||||
ETree::shared_ptr etree(new ETree(4));
|
||||
etree->add(leaf3);
|
||||
etree->add(node2);
|
||||
|
||||
return etree;
|
||||
}
|
||||
|
||||
typedef size_t RowIndex;
|
||||
typedef vector<list<RowIndex> > StructA;
|
||||
typedef vector<boost::optional<Index> > optionalIndices;
|
||||
|
||||
/**
|
||||
* Gilbert01bit algorithm in Figure 2.2
|
||||
*/
|
||||
optionalIndices buildETree(const StructA& structA) {
|
||||
|
||||
// todo: get n
|
||||
size_t n = 5;
|
||||
optionalIndices parent(n);
|
||||
|
||||
// todo: get m
|
||||
size_t m = 5;
|
||||
optionalIndices prev_col(m);
|
||||
|
||||
// for column j \in 1 to n do
|
||||
for (Index j = 0; j < n; j++) {
|
||||
// for row i \in Struct[A*j] do
|
||||
BOOST_FOREACH(RowIndex i, structA[j])
|
||||
{
|
||||
if (prev_col[i]) {
|
||||
Index k = *(prev_col[i]);
|
||||
// find root r of the current tree that contains k
|
||||
Index r = k;
|
||||
while (parent[r])
|
||||
r = *parent[r];
|
||||
if (r != j) parent[r].reset(j);
|
||||
}
|
||||
prev_col[i].reset(j);
|
||||
}
|
||||
}
|
||||
|
||||
return parent;
|
||||
}
|
||||
|
||||
/**
|
||||
* TODO: Build StructA from factor graph
|
||||
*/
|
||||
StructA createStructA(const SymbolicFactorGraph& fg) {
|
||||
|
||||
StructA structA;
|
||||
|
||||
// hardcode for now
|
||||
list<RowIndex> list0;
|
||||
list0 += 0, 1;
|
||||
structA.push_back(list0);
|
||||
list<RowIndex> list1;
|
||||
list1 += 0, 2;
|
||||
structA.push_back(list1);
|
||||
list<RowIndex> list2;
|
||||
list2 += 1, 3;
|
||||
structA.push_back(list2);
|
||||
list<RowIndex> list3;
|
||||
list3 += 4;
|
||||
structA.push_back(list3);
|
||||
list<RowIndex> list4;
|
||||
list4 += 2, 3, 4;
|
||||
structA.push_back(list4);
|
||||
|
||||
return structA;
|
||||
}
|
||||
|
||||
/**
|
||||
* Build ETree from factor graph and parent indices
|
||||
*/
|
||||
ETree::shared_ptr buildETree(const SymbolicFactorGraph& fg, const optionalIndices& parent) {
|
||||
|
||||
// todo: get n
|
||||
size_t n = 5;
|
||||
|
||||
// Create tree structure
|
||||
vector<ETree::shared_ptr> trees(n);
|
||||
for (Index k = 1; k <= n; k++) {
|
||||
Index j = n - k;
|
||||
trees[j].reset(new ETree(j));
|
||||
if (parent[j]) trees[*parent[j]]->add(trees[j]);
|
||||
}
|
||||
|
||||
// Hang factors in right places
|
||||
BOOST_FOREACH(const ETree::sharedFactor& factor, fg)
|
||||
{
|
||||
Index j = factor->front();
|
||||
trees[j]->add(factor);
|
||||
}
|
||||
|
||||
return trees[n - 1];
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
// Test of elimination tree creation
|
||||
// graph: f(0,1) f(0,2) f(1,4) f(2,4) f(3,4)
|
||||
/* ************************************************************************* */
|
||||
/**
|
||||
* Build ETree from factor graph
|
||||
*/
|
||||
ETree::shared_ptr buildETree(const SymbolicFactorGraph& fg) {
|
||||
|
||||
// create vector of factor indices
|
||||
StructA structA = createStructA(fg);
|
||||
|
||||
// call Gilbert01bit algorithm
|
||||
optionalIndices parent = buildETree(structA);
|
||||
|
||||
// Build ETree from factor graph and parent indices
|
||||
return buildETree(fg, parent);
|
||||
}
|
||||
|
||||
TEST( ETree, buildETree )
|
||||
{
|
||||
// create example factor graph
|
||||
SymbolicFactorGraph fg;
|
||||
fg.push_factor(0, 1);
|
||||
fg.push_factor(0, 2);
|
||||
fg.push_factor(1, 4);
|
||||
fg.push_factor(2, 4);
|
||||
fg.push_factor(3, 4);
|
||||
|
||||
ETree::shared_ptr expected = buildHardcodedTree(fg);
|
||||
|
||||
// Build from factor graph
|
||||
ETree::shared_ptr actual = buildETree(fg);
|
||||
|
||||
// todo: CHECK(assert_equal(*expected,*actual));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
// Test to drive elimination tree development
|
||||
// graph: f(0,1) f(0,2) f(1,4) f(2,4) f(3,4)
|
||||
/* ************************************************************************* */
|
||||
|
||||
/**
|
||||
* Eliminate factor graph
|
||||
*/
|
||||
SymbolicBayesNet eliminate(const SymbolicFactorGraph& fg) {
|
||||
|
||||
// build etree
|
||||
ETree::shared_ptr etree = buildETree(fg);
|
||||
|
||||
return etree->eliminate();
|
||||
}
|
||||
|
||||
TEST( SymbolicFactorGraph, eliminate )
|
||||
{
|
||||
// create expected Chordal bayes Net
|
||||
Conditional::shared_ptr c0(new Conditional(0, 1, 2));
|
||||
Conditional::shared_ptr c1(new Conditional(1, 2, 4));
|
||||
Conditional::shared_ptr c2(new Conditional(2, 4));
|
||||
Conditional::shared_ptr c3(new Conditional(3, 4));
|
||||
Conditional::shared_ptr c4(new Conditional(4));
|
||||
|
||||
SymbolicBayesNet expected;
|
||||
expected.push_back(c3);
|
||||
expected.push_back(c0);
|
||||
expected.push_back(c1);
|
||||
expected.push_back(c2);
|
||||
expected.push_back(c4);
|
||||
|
||||
// Create factor graph
|
||||
SymbolicFactorGraph fg;
|
||||
fg.push_factor(0, 1);
|
||||
fg.push_factor(0, 2);
|
||||
fg.push_factor(1, 4);
|
||||
fg.push_factor(2, 4);
|
||||
fg.push_factor(3, 4);
|
||||
|
||||
// eliminate
|
||||
SymbolicBayesNet actual = eliminate(fg);
|
||||
|
||||
CHECK(assert_equal(expected,actual));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
int main() {
|
||||
TestResult tr;
|
||||
|
|
|
|||
|
|
@ -139,41 +139,6 @@ TEST( SymbolicFactorGraph, eliminate )
|
|||
CHECK(assert_equal(expected,actual));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
// Test to drive elimination tree development
|
||||
// Uses example originally created in testEliminationTree
|
||||
// graph: f(0,1) f(0,2) f(1,4) f(2,4) f(3,4)
|
||||
/* ************************************************************************* */
|
||||
TEST( SymbolicFactorGraph, eliminate2 )
|
||||
{
|
||||
// create expected Chordal bayes Net
|
||||
Conditional::shared_ptr c0(new Conditional(0, 1, 2));
|
||||
Conditional::shared_ptr c1(new Conditional(1, 2, 4));
|
||||
Conditional::shared_ptr c2(new Conditional(2, 4));
|
||||
Conditional::shared_ptr c3(new Conditional(3, 4));
|
||||
Conditional::shared_ptr c4(new Conditional(4));
|
||||
|
||||
SymbolicBayesNet expected;
|
||||
expected.push_back(c0);
|
||||
expected.push_back(c1);
|
||||
expected.push_back(c2);
|
||||
expected.push_back(c3);
|
||||
expected.push_back(c4);
|
||||
|
||||
// Create factor graph
|
||||
SymbolicFactorGraph fg;
|
||||
fg.push_factor(0, 1);
|
||||
fg.push_factor(0, 2);
|
||||
fg.push_factor(1, 4);
|
||||
fg.push_factor(2, 4);
|
||||
fg.push_factor(3, 4);
|
||||
|
||||
// eliminate it
|
||||
SymbolicBayesNet actual = *Inference::Eliminate(fg);
|
||||
|
||||
CHECK(assert_equal(expected,actual));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
int main() {
|
||||
TestResult tr;
|
||||
|
|
|
|||
Loading…
Reference in New Issue