Mike Bosse
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11416cac65
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Merge branch 'feature/BAD' into feature/BAD_generic_value_traits
Conflicts:
gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
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2014-11-02 19:00:30 +01:00 |
dellaert
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7b539fbb5c
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Make JacobianMap a wrapper around a VerticalBlockMatrix, which avoids us having to make a vector of references into it
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2014-11-01 11:35:49 +01:00 |
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Mike Bosse
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80187362b8
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attemping to expose ChartValue for expressions with non DefaultCharts, but needs testing
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2014-10-28 11:20:02 +01:00 |
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dellaert
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bf16446f92
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Deal with traits changes
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2014-10-21 01:26:17 +02:00 |
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dellaert
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8ee16c9018
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Comments for Paul
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2014-10-19 11:19:09 +02:00 |
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dellaert
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6e142184cc
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Implemented is_manifold and dimension for all types in testExpressionFactor
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2014-10-19 00:35:25 +02:00 |
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dellaert
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0bcca2c386
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Drastic reduction in allocations at ExpressionFactor construction by having dims constructed imperatively, and using it for both keys_ and dimensions_
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2014-10-16 14:16:58 +02:00 |
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dellaert
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944422e295
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Only ExpressionFactor needs dimensions! Also, add dimensions at construction -> speeds up linearize.
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2014-10-16 11:15:47 +02:00 |
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dellaert
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79ff0c54f9
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createUnknowns
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2014-10-15 10:38:54 +02:00 |
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dellaert
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baaeaacabe
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Made dimensions constant property. Now performance is ***blazing***, way past custom factors.
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2014-10-14 17:46:57 +02:00 |
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dellaert
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c971207abf
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Switched to vector for dimensions
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2014-10-14 17:16:31 +02:00 |
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dellaert
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1c3f328fb2
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Successful switch to Blocks !
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2014-10-14 15:43:41 +02:00 |
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dellaert
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d8d94d0c34
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dimensions implemented and tested
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2014-10-14 09:53:47 +02:00 |
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dellaert
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dda91df6e1
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On the way to full fusion: Optional meta-function now separate from Jacobian.
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2014-10-13 18:32:58 +02:00 |
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dellaert
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1c1695353e
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Now we can apply ExecutionTrace and Expression as meta-functions
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2014-10-13 13:04:37 +02:00 |
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dellaert
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7fde47c48b
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No more JacobianTA typedefs -> all use Jacobian<T,A> now.
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2014-10-13 09:25:06 +02:00 |
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dellaert
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107bcd8bb4
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Going forwards, we default to reverse :-)
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2014-10-12 22:04:40 +02:00 |
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dellaert
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4d1eb05c7d
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Passing JacobianMap as an argument now..
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2014-10-12 20:16:08 +02:00 |
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dellaert
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ecf6462a25
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Victory!! Unit tests work!
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2014-10-11 13:07:58 +02:00 |
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dellaert
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599e232d1d
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traceSize, two tests work
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2014-10-11 12:11:22 +02:00 |
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dellaert
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9585823d5d
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...but works with correct size !
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2014-10-11 11:32:52 +02:00 |
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dellaert
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05f78b6dca
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Re-factor, allow traceExecution
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2014-10-11 11:29:42 +02:00 |
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dellaert
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69b69a0bc8
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placement new works! And sophisticated Trace::print
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2014-10-11 11:03:35 +02:00 |
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dellaert
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eef2d49e8d
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First prototype, segfaults
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2014-10-11 10:27:30 +02:00 |
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dellaert
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23485a0e71
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New and consistent naming: ExecutionTrace = whole tree, CallRecord = local information left by the function.
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2014-10-10 17:45:39 +02:00 |
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dellaert
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5e5457b390
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Renamed entry point to startReverseAD to emphasize it is only called once
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2014-10-09 13:42:43 +02:00 |
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dellaert
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9ebe1e6d10
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Super-speedup by specializing to 2-dimensional output (for now). Using some template magic.
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2014-10-08 23:50:17 +02:00 |
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dellaert
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ce2dcaeb3b
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Tagged union, lightweight
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2014-10-08 15:39:59 +02:00 |
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dellaert
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c4a92acde1
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Avoid argument temporaries
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2014-10-07 19:35:44 +02:00 |
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dellaert
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3c1c9c6d12
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Switch to pointers - nice improvement
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2014-10-07 18:11:12 +02:00 |
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dellaert
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e4392c0a3b
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JacobianTrace no longer templated
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2014-10-07 16:11:55 +02:00 |
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dellaert
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613cb0bb12
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Binary functions now take fixed Jacobians
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2014-10-07 01:01:46 +02:00 |
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dellaert
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0ed96dda33
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Avoid alloc and copy
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2014-10-06 12:14:15 +02:00 |
Sungtae An
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0a7db2d252
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Merge remote-tracking branch 'origin/feature/BAD' into feature/BAD
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2014-10-05 16:16:19 -04:00 |
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Sungtae An
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40565564f5
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TernaryExpression is added
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2014-10-05 16:09:24 -04:00 |
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dellaert
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5b13306104
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Split out starting the AD process vs. propagating it, is more efficient than starting with a useless identity matrix
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2014-10-05 19:27:52 +02:00 |
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dellaert
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caf742d5e1
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Better names
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2014-10-05 17:20:55 +02:00 |
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dellaert
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001504a432
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JacobianTrace base, and avoid copying JacobianMaps.
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2014-10-05 17:12:38 +02:00 |
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dellaert
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fdf9c10b42
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Implemented value and now testBADFactor also runs
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2014-10-05 15:00:10 +02:00 |
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dellaert
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8e527a2251
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Binary Trace compiles, runs
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2014-10-05 13:27:41 +02:00 |
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dellaert
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303d37a716
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Separate hierarchy
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2014-10-05 11:22:14 +02:00 |
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dellaert
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6fb10a5de9
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Rename, emphasizing is forward AD
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2014-10-03 21:13:34 +02:00 |
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dellaert
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a5b92f0342
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MUCH simpler by just using boost::bind to turn methods into functions
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2014-10-03 13:18:25 +02:00 |
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dellaert
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bdf5451565
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Typedefs
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2014-10-03 12:52:35 +02:00 |
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dellaert
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c8dd361080
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Common base class BinaryExpression
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2014-10-03 12:48:28 +02:00 |
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dellaert
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987b123ec9
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NullaryMethodExpression and UnaryFunctionExpression, derived from UnaryExpression
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2014-10-03 12:40:26 +02:00 |
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dellaert
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aefad1e548
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MAJOR refactor: I now use separate functions for value (only) and "augmented", for combined value-derivatives. The latter returns a new templated class, Augmented<T>.
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2014-10-03 10:25:02 +02:00 |
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dellaert
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ce53346a9e
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Added Symbol versions
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2014-10-01 13:12:07 +02:00 |
Paul Furgale
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837b2a6bc0
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Fixed the member function with very ugly syntax
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2014-09-30 23:13:07 +02:00 |
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dellaert
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c68c2d2dac
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Prototype code for passing methods. Does not work (uncomment line 61)
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2014-09-30 13:19:44 +02:00 |