Frank Dellaert
|
0194926dc2
|
transpose not needed
|
2009-12-18 05:14:34 +00:00 |
|
Frank Dellaert
|
c9bd327961
|
formatting
|
2009-12-18 05:14:08 +00:00 |
Alex Cunningham
|
e2bc13a2a6
|
Renaming gradients -> jacobians
|
2009-12-18 03:05:47 +00:00 |
|
Frank Dellaert
|
a3deb992c4
|
use BOOST_FOREACH
|
2009-12-18 02:48:21 +00:00 |
|
Alex Cunningham
|
a1918056a5
|
Changed NonlinearConstraints to take cost and gradient functions that do not take the list of keys. Tests have been reconstructed using boost::bind
|
2009-12-18 02:39:02 +00:00 |
|
Frank Dellaert
|
5a0bc8ab53
|
remove binaries
|
2009-12-18 02:30:05 +00:00 |
|
Frank Dellaert
|
cf1fde7bda
|
UrbanFactor, UrbanGraph.cpp, template instantiations
|
2009-12-18 02:27:50 +00:00 |
|
Alex Cunningham
|
7d0de77fc6
|
Changed argument ordering for constraints
|
2009-12-18 01:40:29 +00:00 |
|
Frank Dellaert
|
7dfc67860c
|
unit tests for new Urban* classes
|
2009-12-18 01:24:28 +00:00 |
|
Alex Cunningham
|
d75a602546
|
Removed failed test testSQPOptimizer
|
2009-12-18 01:24:19 +00:00 |
Richard Roberts
|
ff817551de
|
Added FactorGraph::replace(index, factor) to replace one factor with another (used in FrameSLAM).
|
2009-12-18 00:13:38 +00:00 |
|
Richard Roberts
|
3c0ae0ec1c
|
Math fix in linearize() and error_vector()
|
2009-12-18 00:10:20 +00:00 |
|
Richard Roberts
|
7161878285
|
Small changes: standardized constructors, added log() and unit tests, removed +,- ops, angle() changed to theta(), print functions
|
2009-12-18 00:09:54 +00:00 |
Viorela Ila
|
d61d92c0e7
|
UrbanGraph class and testUrbanGraph TODOs
|
2009-12-17 21:23:50 +00:00 |
|
Frank Dellaert
|
68de3ae715
|
better comments
|
2009-12-17 19:34:27 +00:00 |
Manohar Paluri
|
dc9a966fdd
|
moved shared pointer declaration to Cal3_S2.h
|
2009-12-17 10:02:43 +00:00 |
|
Richard Roberts
|
3326759f0b
|
Removed extra ;
|
2009-12-16 21:41:33 +00:00 |
|
Richard Roberts
|
c45f64657f
|
Changes to make Pose2Config work with NonlinearOptimizer
|
2009-12-16 21:40:41 +00:00 |
|
Richard Roberts
|
83c95f2343
|
Changed constructor used from Pose2(t,R) to Pose2(R,t)
|
2009-12-16 21:39:03 +00:00 |
|
Frank Dellaert
|
9efac7b3fb
|
Some re-naming and re-formatting only
|
2009-12-15 05:34:49 +00:00 |
|
Richard Roberts
|
94f986bbe7
|
Indentation
|
2009-12-15 00:00:02 +00:00 |
Chris Beall
|
a7a5e5e816
|
small performance improvement by using a pointer to address r
|
2009-12-14 16:56:50 +00:00 |
|
Richard Roberts
|
71bc9ca0f7
|
Added unit tests that were missing
|
2009-12-14 15:45:45 +00:00 |
|
Richard Roberts
|
971b575715
|
Fix duplicate definition error by adding 'inline' to checkConvergence
|
2009-12-14 06:10:51 +00:00 |
Michael Kaess
|
2270c7d787
|
BayesTree animation
|
2009-12-14 06:01:15 +00:00 |
|
Richard Roberts
|
c4b60bfd65
|
Closing # 118: Made Pose2 use Rot2, added 'compose' for Pose2, made slight modifications to Rot2. Also added additional unit tests. This change shouldn't break anything but let me know if it does.
|
2009-12-14 03:02:05 +00:00 |
|
Michael Kaess
|
0116b3a515
|
severe bug fixed in updating of Bayestree
|
2009-12-13 20:54:48 +00:00 |
|
Viorela Ila
|
d5d70d7751
|
gradientDescent_ and conjugateGradientDescent_ works in matlab
|
2009-12-13 03:02:14 +00:00 |
|
Frank Dellaert
|
6e3f36dc63
|
Trying different orderings
|
2009-12-12 12:53:39 +00:00 |
|
Frank Dellaert
|
2914d663de
|
No print in tests
|
2009-12-12 06:18:59 +00:00 |
|
Frank Dellaert
|
c38683cd64
|
Sped up and fixed (?) sparse
|
2009-12-12 06:18:29 +00:00 |
|
Frank Dellaert
|
99533f286f
|
Vanilla Conjugate Gradient Descent works
|
2009-12-12 04:44:34 +00:00 |
|
Frank Dellaert
|
2a2963b7dd
|
Added a numerical gradient calculation test
|
2009-12-12 04:13:12 +00:00 |
|
Frank Dellaert
|
56a4172480
|
Fixed printing in matlab
|
2009-12-12 04:12:24 +00:00 |
|
Chris Beall
|
be10fc2a90
|
18% performance boost by using pointer to address destination matrix A
|
2009-12-11 23:59:37 +00:00 |
|
Viorela Ila
|
631248f902
|
no print yet
|
2009-12-11 23:16:57 +00:00 |
|
Viorela Ila
|
570c6a3c71
|
print method for Pose2Graph
|
2009-12-11 23:00:52 +00:00 |
|
Viorela Ila
|
8a9f05059c
|
implement getOrdering_ to work in matlab
|
2009-12-11 22:53:48 +00:00 |
|
Frank Dellaert
|
a1e90af90f
|
exmap that takes Vector
|
2009-12-11 22:43:34 +00:00 |
|
Frank Dellaert
|
137291b2c9
|
Vector-like operators
|
2009-12-11 21:38:08 +00:00 |
|
Frank Dellaert
|
e46cfbd7c4
|
fixed bug in sum
|
2009-12-11 21:37:52 +00:00 |
|
Frank Dellaert
|
bca489384e
|
dot product
|
2009-12-11 21:37:40 +00:00 |
|
Viorela Ila
|
76b55aba7d
|
linearize method for Pose2Graph works in Matlab!!
|
2009-12-11 21:34:08 +00:00 |
|
Viorela Ila
|
03304ac421
|
testPose2Graph tests linearize
|
2009-12-11 19:32:46 +00:00 |
|
Frank Dellaert
|
a66f08a5e0
|
testing new alphaFactor
|
2009-12-11 18:03:43 +00:00 |
|
Frank Dellaert
|
f91a1f0192
|
error_vector
|
2009-12-11 17:42:54 +00:00 |
|
Frank Dellaert
|
abc268a13d
|
quick cleanup - expmap comments
|
2009-12-11 14:22:35 +00:00 |
|
Frank Dellaert
|
16e1f6e56d
|
use Vector_ for conciseness
|
2009-12-11 05:28:19 +00:00 |
|
Frank Dellaert
|
726858145a
|
gradient descent (with fixed nr. of iterations, choosing optimal step size)
|
2009-12-11 04:59:05 +00:00 |
|
Frank Dellaert
|
299fcf1e04
|
scale is const !
|
2009-12-11 04:57:31 +00:00 |
|
Frank Dellaert
|
c57501eddd
|
fix macro so GTSAM_PRINT(*foo) works
|
2009-12-11 04:57:14 +00:00 |
|
Frank Dellaert
|
7151e7b24a
|
new constructor from vector
|
2009-12-11 04:56:29 +00:00 |
|
Frank Dellaert
|
4af2382105
|
Gradient at solution is zero !
|
2009-12-11 02:59:09 +00:00 |
|
Chris Beall
|
532ea0ae36
|
fixed weird error that several of us have been experiencing with GaussianBayesTree.h appearing twice in the install command. fixed by moving Symbolic inference section above Inference Section.
|
2009-12-11 01:38:45 +00:00 |
|
Viorela Ila
|
1a96534016
|
add Pose2Graph
|
2009-12-10 23:45:38 +00:00 |
|
Frank Dellaert
|
e7a912bd3b
|
Calculate gradient of factor graph objective function.
|
2009-12-10 20:19:15 +00:00 |
|
Frank Dellaert
|
67e1897e47
|
Get and [] now return references, new imperative add method
|
2009-12-10 20:17:11 +00:00 |
|
Frank Dellaert
|
81ce0bef88
|
New operator for left-multiplication of vector
|
2009-12-10 20:16:40 +00:00 |
|
Michael Kaess
|
2df0e49e9b
|
optimize works for GaussianBayessTree
|
2009-12-10 17:00:11 +00:00 |
|
Frank Dellaert
|
f44af12836
|
Renamed variable
|
2009-12-10 15:34:09 +00:00 |
|
Frank Dellaert
|
d26664d975
|
Convenience functions for adding factors
|
2009-12-10 15:33:52 +00:00 |
|
Viorela Ila
|
e0274dab59
|
Pose2Config constructor
|
2009-12-10 04:12:41 +00:00 |
|
Viorela Ila
|
072dea81b0
|
rename Pose2Constraint using Pose2Factor
|
2009-12-09 23:43:01 +00:00 |
|
Manohar Paluri
|
cee3f2a355
|
fixed recursive inclusion. Was giving error when you build gtsam
|
2009-12-09 22:53:44 +00:00 |
|
Frank Dellaert
|
db0d7286c2
|
Fixed Michael's c++ trubbles.
|
2009-12-09 22:15:38 +00:00 |
|
Michael Kaess
|
72ba1bee24
|
separate cpp
|
2009-12-09 22:02:50 +00:00 |
|
Frank Dellaert
|
7d4de3ec20
|
Added a 1D manifold implementation of 2D rotations. The new representation stores (cos theta, sin theta) rather than theta itself, ensuring that (a) rotate and unrotate do not call cos/sin, (b) same for all derivatives of rotate and unrotate, (c) when you call angle(), you always get the standardized answer given by atan2. The idea is that we will use this new type in Pose2 instead of angle.
|
2009-12-09 21:50:27 +00:00 |
|
Chris Beall
|
91370a9d7a
|
added public iterator typedefs to VSLAMConfig to make it easier for other code to consume the optimization results.
|
2009-12-09 21:47:23 +00:00 |
|
Manohar Paluri
|
1ec93f05cd
|
added a test case which uses getOrdering instead of defining the order manually.
|
2009-12-09 21:22:16 +00:00 |
|
Frank Dellaert
|
a9dc57db2c
|
|
2009-12-09 21:00:53 +00:00 |
|
Michael Kaess
|
ffa009d3ff
|
accidentially checked in
|
2009-12-09 20:56:03 +00:00 |
|
Michael Kaess
|
34e913e236
|
optimization over cliques started
|
2009-12-09 20:49:04 +00:00 |
|
Viorela Ila
|
638b174541
|
Pose2Constraint works in matlab
|
2009-12-09 19:55:25 +00:00 |
|
Michael Kaess
|
4200271cf4
|
GaussianBayesTree added, testBayesTree split
|
2009-12-09 19:39:25 +00:00 |
|
Chris Beall
|
a4a552ea86
|
fixed bug concerning variable keys not being saved.
|
2009-12-09 19:13:02 +00:00 |
|
Chris Beall
|
3b3c76b273
|
cleaned up, and removed Testable here because it's already provided by base class FactorGraph
|
2009-12-09 19:11:45 +00:00 |
|
Viorela Ila
|
b87aa58c1f
|
add Pose2Constraint class
|
2009-12-09 17:29:43 +00:00 |
|
Manohar Paluri
|
f764772106
|
added getOrdering unit test
|
2009-12-09 15:25:50 +00:00 |
|
Richard Roberts
|
e43548d03a
|
A couple more "missing" .hpp files for newer gcc :-)
|
2009-12-08 22:49:57 +00:00 |
|
Michael Kaess
|
9bbea6dcbd
|
some additional includes needed with newer compiler
|
2009-12-08 21:40:09 +00:00 |
|
Alex Cunningham
|
d7c67532bf
|
Changed format of Matrix::vector_scale() to switch arguments
|
2009-12-08 21:10:38 +00:00 |
|
Frank Dellaert
|
066b80e02e
|
Pose2Constraint, initial check in with working linearize
|
2009-12-08 20:48:39 +00:00 |
|
Frank Dellaert
|
16da0895a8
|
square_root_inverse
|
2009-12-08 20:48:13 +00:00 |
|
Frank Dellaert
|
d1ab2c7288
|
transform_to and between, with derivatives, unit-tested
|
2009-12-08 19:12:20 +00:00 |
|
Frank Dellaert
|
6ead19648f
|
Modernized Pose2 constraint and added numerical derivative check
|
2009-12-08 14:02:56 +00:00 |
|
Frank Dellaert
|
152fa0069a
|
fixed expected, actual nomenclature in assert_equal: always use (expected, equal) order
|
2009-12-08 13:53:33 +00:00 |
|
Viorela Ila
|
95260281d1
|
add testFunctions (h, H1, H2) for Pose Constraint
|
2009-12-07 23:17:03 +00:00 |
|
Richard Roberts
|
53af03368f
|
Fixed indentation
|
2009-12-07 22:51:49 +00:00 |
|
Manohar Paluri
|
e244e22c6a
|
added probability function that computes the probability of a BinaryBayesNet given a config.
|
2009-12-07 07:12:01 +00:00 |
|
Manohar Paluri
|
115d9a8adf
|
replaced pow with bit shift operator, changed constructor to take p(x|parents) and created cpt inside the constructor.
|
2009-12-07 03:25:25 +00:00 |
|
Manohar Paluri
|
28eb550781
|
Used a map for config
|
2009-12-07 00:49:13 +00:00 |
|
Manohar Paluri
|
b9e15ee789
|
Added cpt to BinaryConditional
|
2009-12-06 23:28:46 +00:00 |
|
Manohar Paluri
|
60a3a21d5a
|
Binary Bayes Net, incomplete
|
2009-12-06 21:46:46 +00:00 |
|
Frank Dellaert
|
2a4e90a283
|
Re-factored append_factor to use FOREACH_PAIR
|
2009-12-05 02:00:20 +00:00 |
|
Chris Beall
|
e98081f92c
|
changes to append_factor which give more than 2x speedup on my data. Matrices in As are no longer copied/edited/replaced each time they need to be changed, but created once and then updated in place.
|
2009-12-04 21:03:32 +00:00 |
Eohan George
|
ae9789c9ee
|
Cleaner printing with tabs after each element
|
2009-12-02 23:01:49 +00:00 |
Kai Ni
|
5bde26a885
|
odprintf is an auxiliary function to printf for Win32 compatibility
|
2009-12-02 19:37:54 +00:00 |
|
Alex Cunningham
|
e26acc0d8d
|
Changed nonlinear constraints to use boost.bind to handle arbitrary function objects for evaluating cost, useful for parameterizing cost functions.
|
2009-12-01 19:45:47 +00:00 |
|
Viorela Ila
|
c00252a8f6
|
add method combine to GaussianFactorGraph in gtsam.h
|
2009-12-01 16:01:29 +00:00 |
|
Alex Cunningham
|
a3ce3f31c8
|
Cleanup with NonlinearConstraints to make the active() function do thresholding for inequality constraints, rather than constraint function itself.
testSQP now has all tests active and passing.
Added greaterThanOrEqual() for vector comparison.
|
2009-11-30 17:36:34 +00:00 |
|
Alex Cunningham
|
1799f59388
|
Added a function for the SQPOptimizer that will iterate until convergence. At the moment, the convergence conditions are quite simple (error below threshold or too many iterations). The system does, however, strictly limit the number of iterations.
|
2009-11-28 22:49:14 +00:00 |
|
Alex Cunningham
|
1525253123
|
Inequality Constraints now work in a simple obstacle-avoidance demo in testSQPOptimizer. It should be noted that convergence conditions are still not implemented.
|
2009-11-28 21:44:07 +00:00 |
|
Alex Cunningham
|
395e4ae3f1
|
Fixed sign issue on nonlinear constraints, so that that it is not necessary to flip the sign on the delta configs before using exmap.
|
2009-11-28 21:00:09 +00:00 |
|
Alex Cunningham
|
0ff7e3a5d9
|
Changed interface on constraint g(x) and grad_g(x) functions to take a list of keys, so that all of the variables in a factor can be used as necessary. Moved g(x) into base NonlinearConstraint class and some cleanup.
|
2009-11-28 19:18:02 +00:00 |
|
Alex Cunningham
|
107c6846fb
|
Added basic inequality constraint handling to NonlinearConstraint. Demo still in progress, but now constraints are explicitly handled as either equality or inequality constraints, with an active() function to determine if it is necessary to use the constraint.
Created testOrdering for new subtract() function to remove parts of an ordering.
|
2009-11-28 18:35:36 +00:00 |
|
Alex Cunningham
|
f3e825767b
|
NonlinearConstraints now handle inactive constraints (when the state is already in the feasible region) by returning empty factors on linearization.
|
2009-11-27 18:42:01 +00:00 |
|
Alex Cunningham
|
cf6474c99b
|
Added a graph implementation for multi-robot control systems. Currently can only really constrain the ends of a trajectory.
Made a number of fixes and updates to the ControlConfig as well.
|
2009-11-27 17:59:03 +00:00 |
|
Alex Cunningham
|
2a2e11d05d
|
Added the config and units for a robot control system example that keeps a position and velocity model of a robot's motion.
|
2009-11-26 05:52:17 +00:00 |
|
Alex Cunningham
|
43e4c66407
|
Added more detail to VSLAM test that diverges.
|
2009-11-24 16:03:57 +00:00 |
|
Alex Cunningham
|
d788e9833d
|
Added tests to ensure that configs will only update existing values when using exmap and not add new ones if there are more values in the delta config. VectorConfig and VSLAMConfig both do this properly now.
|
2009-11-24 15:12:59 +00:00 |
|
Alex Cunningham
|
e3e79e3888
|
Added lagrange access function to the SQPOptimizer
Added a test testSQP to try changing the initial Lagrange multiplier values to find a way around the stability problem, but there is no effect.
|
2009-11-24 14:44:46 +00:00 |
|
Alex Cunningham
|
140e79572f
|
Added a test to testSQP to check VSLAM solution stability when the initial config is away from the ground truth. The test without the nonlinear constraints has the same stability problem, and both the constrained and unconstrained versions are in place and disabled.
|
2009-11-24 14:14:03 +00:00 |
|
Alex Cunningham
|
fec280db8e
|
Added a nonlinear constraint version of the stereo SQP example, but the test when the initial configuration is incorrect is not stable and the points continue moving away indefinitely.
|
2009-11-24 06:39:27 +00:00 |
|
Alex Cunningham
|
31856ce598
|
SQPOptimizer can now do its own initialization of the Lagrange multipliers.
Cleaned up NonlinearConstraint
|
2009-11-23 22:10:52 +00:00 |
|
Alex Cunningham
|
a5515d9d57
|
SQPoptimizer can now perform optimization, and has a test using the linear map-warping example.
|
2009-11-23 21:25:31 +00:00 |
|
Viorela Ila
|
ac315082aa
|
new example from RSS sqrtSAM in testBayesTree
|
2009-11-23 20:11:10 +00:00 |
|
Alex Cunningham
|
0b333630e7
|
Added an SQPOptimizer class with accompanying test - currently doesn't do much
|
2009-11-23 19:57:35 +00:00 |
|
Viorela Ila
|
d15a7a073c
|
SymbolicFactor works in Matlab
|
2009-11-23 19:45:09 +00:00 |
|
Alex Cunningham
|
36877532ad
|
Added ground truth for VSLAM example in testSQP
|
2009-11-23 16:45:53 +00:00 |
|
Frank Dellaert
|
f272e2f6fe
|
Added a second smoother test
|
2009-11-23 05:27:37 +00:00 |
|
Frank Dellaert
|
9bac438dbe
|
Play nice with BOOST_FOREACH: non-const begin/end. Also removed buggy clear().
|
2009-11-23 05:27:19 +00:00 |
|
Michael Kaess
|
10a8ac34ec
|
iSAM smoother test
|
2009-11-23 01:16:58 +00:00 |
|
Frank Dellaert
|
4951a25453
|
More efficient removeTop
|
2009-11-23 00:02:06 +00:00 |
|
Frank Dellaert
|
35af122e83
|
Added a new version of removeTop and simplified update
|
2009-11-22 23:50:01 +00:00 |
|
Michael Kaess
|
7d384488e3
|
BayesTree::update generalized and moved from testIncremental to BayesTree; testIncremental removed
|
2009-11-22 23:35:13 +00:00 |
|
Frank Dellaert
|
64a43b0492
|
removeTop now does not bomb when a clique does not exist: it just does nothing
|
2009-11-22 22:59:56 +00:00 |
|
Frank Dellaert
|
4e74edba72
|
Some simplification
|
2009-11-22 22:39:32 +00:00 |
|
Michael Kaess
|
ab117947d7
|
update now takes a factor graph, rather than an individual factor
|
2009-11-22 22:26:24 +00:00 |
|
Michael Kaess
|
a3de1df5a4
|
adding orphans assuming that the first separator key refers to the parent; GTSAM_PRINT define
|
2009-11-22 21:18:31 +00:00 |
|
Frank Dellaert
|
198f73a05f
|
Insert conditionals straight into the topless bayesTree
|
2009-11-22 18:40:55 +00:00 |
|
Frank Dellaert
|
32db0595f4
|
using removeTop now
|
2009-11-22 18:27:14 +00:00 |
|
Frank Dellaert
|
952798e751
|
fixed orphans bug
|
2009-11-22 18:22:17 +00:00 |
|
Frank Dellaert
|
9da2f16f4d
|
Removed copy/paste in unit tests
|
2009-11-22 18:12:29 +00:00 |
|
Frank Dellaert
|
d4aaa5d114
|
Added two more removePath tests and fixed bug in removeTop. But orphan list is still incorrect.
|
2009-11-22 18:06:28 +00:00 |
|
Michael Kaess
|
45292f7bd6
|
Cliques implemented; unit test on orphans for removePath; bug fix in removePath/orphans
|
2009-11-22 17:40:24 +00:00 |
|
Frank Dellaert
|
53754ccbb8
|
removeTop with one factor implemented and one test works (orphans not yet checked)
|
2009-11-22 17:34:59 +00:00 |
|
Frank Dellaert
|
6f11c0803b
|
Cliques class
|
2009-11-22 16:46:29 +00:00 |
|
Frank Dellaert
|
7ce62f1626
|
Some template magic and boost:tie cleared up the compile issues in removePath
|
2009-11-22 16:04:51 +00:00 |
|
Michael Kaess
|
4449cfd30c
|
remove_path now also returns list of orphaned subtree roots; compile problem...
|
2009-11-21 23:41:43 +00:00 |
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Frank Dellaert
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82aae3c161
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Some re-factoring (using BOOST_FOREACH to loop over string list), root is now NULL after removing root clique
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2009-11-21 21:48:10 +00:00 |
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Alex Cunningham
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1fd0404ec9
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Cleanup in testSQP, also demoed the unary constraint, as well.
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2009-11-21 19:05:24 +00:00 |
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Frank Dellaert
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00b5b25591
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Awesome recursive version of removePath
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2009-11-21 06:14:53 +00:00 |
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Frank Dellaert
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072846a70f
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moved addClique and removeClique implementations to inl.h,
removePath takes clique argument now
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2009-11-21 06:07:46 +00:00 |
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Frank Dellaert
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286d826119
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removed print
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2009-11-21 06:06:30 +00:00 |
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Frank Dellaert
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b113194e58
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While watching TV :-) added some constructors for more readable tests.
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2009-11-21 04:59:50 +00:00 |
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Frank Dellaert
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a0a250750b
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compare config
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2009-11-21 04:22:59 +00:00 |
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Michael Kaess
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0286bc27eb
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removePath mostly working
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2009-11-21 03:38:13 +00:00 |
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Alex Cunningham
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08f5b074a0
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Added verbosity selector for the SQP demo to remove printouts every time it runs
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2009-11-20 14:29:11 +00:00 |
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Frank Dellaert
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715dc4474d
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functional STL magic
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2009-11-20 14:18:26 +00:00 |
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Frank Dellaert
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d234365d53
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involves is const
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2009-11-20 14:17:52 +00:00 |