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+================================================================================
+GTSAM - Georgia Tech Smoothing and Mapping Library
+
+MATLAB wrapper
+
+http://borg.cc.gatech.edu/projects/gtsam
+================================================================================
+
+This is the GTSAM MATLAB toolbox, a MATLAB wrapper around the GTSAM C++
+library.
+
+
+----------------------------------------
+Note about newer Ubuntu versions unsupported by MATLAB (later than 10.04)
+----------------------------------------
+
+If you have a newer Ubuntu system, you must make a small modification to your
+MATLAB installation, due to MATLAB being distributed with an old version of
+the C++ standard library.  Delete or rename all files starting with
+'libstdc++' in your MATLAB installation directory, in paths:
+
+	/usr/local/MATLAB/[version]/sys/os/[system]/ 
+	/usr/local/MATLAB/[version]/bin/[system]/
+
+
+----------------------------------------
+Adding the toolbox to your MATLAB path
+----------------------------------------
+
+To get started, first add the 'toolbox' folder to your MATLAB path - in the
+MATLAB file browser, right-click on the folder and click 'Add to path -> This
+folder' (do not add the subfolders to your path).
+
+
+----------------------------------------
+Trying out the examples
+----------------------------------------
+
+The examples are located in the 'gtsam_examples' subfolder.  You may either
+run them individually at the MATLAB command line, or open the GTSAM example
+GUI by running 'gtsamExamples'.  Example:
+
+>> cd /Users/yourname/toolbox  % Change to wherever you installed the toolbox
+>> cd gtsam_examples           % Change to the examples directory
+>> gtsamExamples               % Run the GTSAM examples GUI
+
+
+----------------------------------------
+Running the unit tests
+----------------------------------------
+
+The GTSAM MATLAB toolbox also has a small set of unit tests located in the
+gtsam_tests directory.  Example:
+
+>> cd /Users/yourname/toolbox  % Change to wherever you installed the toolbox
+>> cd gtsam_tests              % Change to the examples directory
+>> test_gtsam                  % Run the unit tests
+Starting: testJacobianFactor
+Starting: testKalmanFilter
+Starting: testLocalizationExample
+Starting: testOdometryExample
+Starting: testPlanarSLAMExample
+Starting: testPose2SLAMExample
+Starting: testPose3SLAMExample
+Starting: testSFMExample
+Starting: testStereoVOExample
+Starting: testVisualISAMExample
+Tests complete!
+
+
+----------------------------------------
+Writing your own code
+----------------------------------------
+
+Coding for the GTSAM MATLAB toolbox is straightforward and very fast once you
+understand a few basic concepts!  Please see the manual to get started.