Richard Roberts
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1daac6baf0
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Nicer formatting in main CMakeLists.txt
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2012-10-08 22:40:53 +00:00 |
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Richard Roberts
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0f6516dc3d
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Using Reductions in all code paths for computing marginals, but not yet joint marginals. Also adds a lot of timing instrumentation in marginals code.
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2012-10-08 22:40:51 +00:00 |
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Richard Roberts
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9793f8b7f7
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Finalized batch and incremental timing scripts
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2012-10-08 22:40:47 +00:00 |
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Richard Roberts
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82f98fe1fb
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Added additional timing instrumentation in elimination data structures
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2012-10-08 22:40:45 +00:00 |
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Richard Roberts
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bc589f45cd
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Print spaces in place of _'s in timing outline
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2012-10-08 22:40:42 +00:00 |
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Richard Roberts
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f3a2887af1
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Moved GaussianBayesTree tests into their own file, out of testGaussianISAM
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2012-10-08 22:40:40 +00:00 |
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Richard Roberts
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eb21cf0911
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Cleaned up information/augmentedInformation for GaussianFactor and GaussianConditional
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2012-10-08 22:40:37 +00:00 |
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Richard Roberts
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550e683cad
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Fixed comment
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2012-10-08 22:40:31 +00:00 |
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Richard Roberts
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9ebc906150
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Print timing outline in order of appearance in code
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2012-10-08 22:40:29 +00:00 |
Alex Cunningham
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82593a2432
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Added conversion functions from Fast* classes to stl containers. Added permuteWithInverse() to BayesTree
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2012-10-08 20:30:59 +00:00 |
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Alex Cunningham
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a004354c20
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Added assertions to check for valid pointer values
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2012-10-08 19:11:02 +00:00 |
Stephen Williams
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936081a05d
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Added an optional SensorToBody transformation to the GenericProjectionFactor. This allows the cameras to be rotated and/or translated from the main robot/vehicle frame.
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2012-10-08 10:38:59 +00:00 |
Yong-Dian Jian
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98b4da1d95
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add std::endl
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2012-10-08 01:42:38 +00:00 |
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Yong-Dian Jian
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535809c1c6
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add #include <iostream>
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2012-10-08 01:35:00 +00:00 |
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Yong-Dian Jian
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d8c1f58eea
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show msg where point is behind camera
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2012-10-08 01:25:18 +00:00 |
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Yong-Dian Jian
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16743bacd8
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roll back changes
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2012-10-08 01:12:51 +00:00 |
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Yong-Dian Jian
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abc01c0779
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enable display msg for exception
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2012-10-07 23:11:41 +00:00 |
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Alex Cunningham
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5b7b89b57c
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Fixed warnings
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2012-10-06 21:41:08 +00:00 |
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Richard Roberts
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b60189104c
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Added checks for proper noise model dimension
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2012-10-05 23:23:40 +00:00 |
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Yong-Dian Jian
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b356ca6e6a
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add a function to retrieve the prior
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2012-10-05 16:57:44 +00:00 |
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Alex Cunningham
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054c326e3c
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Added tests related to determining why non-unit sigmas were occurring in bayes tree - solution: Vector_() is dangerous
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2012-10-04 20:23:45 +00:00 |
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Alex Cunningham
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394485d543
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Whitespace only
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2012-10-04 20:23:44 +00:00 |
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Alex Cunningham
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0c0c0a7221
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Added fix to allow for versions of boost < 1.47
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2012-10-03 17:36:24 +00:00 |
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Richard Roberts
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89b50e7679
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Renamed tic -> gttic and toc -> gttoc to avoid conflict with PCL tic/toc
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2012-10-02 20:18:41 +00:00 |
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Richard Roberts
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c44f8f7f80
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Fixed examples from timing statement change (missed)
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2012-10-02 18:49:48 +00:00 |
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Richard Roberts
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4876cc7ff7
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Revamped timing statements - much easier to use, exception-safe (see email to frankcvs list)
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2012-10-02 18:36:39 +00:00 |
Chris Beall
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4297d24c96
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changed tabs to spaces for consistent indentation in all of GTSAM
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2012-10-02 14:40:07 +00:00 |
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Richard Roberts
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96ce28625b
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Timing marginals in timeIncremental
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2012-10-01 16:12:43 +00:00 |
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Richard Roberts
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fb409a2cc7
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Implemented partial elimination and sparse variable index remapping (Reduction) to enable Frank's new marginal code
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2012-10-01 16:12:41 +00:00 |
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Richard Roberts
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d7af0b9b5b
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Renamed arguments for consistency
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2012-10-01 16:12:34 +00:00 |
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Richard Roberts
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784e9f5755
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Added overall timing scripts for batch and incremental (ISAM2) solving
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2012-09-28 17:48:49 +00:00 |
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Chris Beall
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f6ef1e1d9d
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added Cheirality exception as in ProjectionFactor
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2012-09-27 19:06:30 +00:00 |
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Richard Roberts
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c323f41e8f
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Fixed silently ignoring robust noise model when calling whiten on one - now throws exception. Also added function to whiten only the rhs vector in robust noise models.
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2012-09-25 18:45:28 +00:00 |
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Yong-Dian Jian
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e3aaeedbf2
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update the optimize interface
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2012-09-24 21:05:37 +00:00 |
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Alex Cunningham
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6284312a5c
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Added unit test for Fast* containers, added generic interface to convert from containers to KeySet
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2012-09-24 19:42:41 +00:00 |
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Alex Cunningham
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df2a6bfdee
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Added reporting functions for counting number of cached shortcuts/separatorMarginals in BayesTree
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2012-09-21 20:57:30 +00:00 |
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Alex Cunningham
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0e60b8cc4d
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Added access functions for cachedSeparatorMarginals
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2012-09-21 20:02:26 +00:00 |
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Alex Cunningham
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1985758d35
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Updated interfaces and wrapped LinearContainerFactor
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2012-09-21 14:19:57 +00:00 |
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Alex Cunningham
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0ef12f2f20
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Moved in reference frame factor from MastSLAM
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2012-09-19 02:23:43 +00:00 |
Andrew Melim
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a2474ef354
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Starting to add support for STL containers in wrap
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2012-09-18 18:36:42 +00:00 |
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Alex Cunningham
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c6f7fa8fb7
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Check that P is non-empty before drawing covariance ellipses
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2012-09-18 17:48:20 +00:00 |
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Alex Cunningham
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f272a07e29
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Moved DummyFactor to gtsam_unstable from MastSLAM - allows for adding sufficient connectivity for solvers to operate
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2012-09-18 17:48:18 +00:00 |
Frank Dellaert
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7fcd06bb4f
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BayesTree::marginalFactor now calls Clique::marginal2, which in turn calles the new function Clique::separatorMarginal. This calculates marginals with a much simpler recursion, using the parent separator marginal. This could be faster than the shortcut way, especially if separator sizes are small and the root clique is large. The cached marginals have to be discarded when the bayes tree is updated, but this is no different from shortcuts to the root.
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2012-09-17 14:03:54 +00:00 |
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Frank Dellaert
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1f0cc0aaa4
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2-variable joint marginals computed with shortcuts are buggy: they only work if the cliques are disjoint or one of them is the root. They now throw an exception if that is the case.
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2012-09-17 03:31:24 +00:00 |
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Alex Cunningham
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970efd9e29
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Fixed missing include of boost.range, fixed signed/unsigned comparison warning
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2012-09-17 01:26:08 +00:00 |
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Frank Dellaert
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75b96d9ed2
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Removed old indices code
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2012-09-17 00:50:15 +00:00 |
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Frank Dellaert
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cdf45105c2
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Fixed shortcuts after adding several more problematic testcases
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2012-09-17 00:29:03 +00:00 |
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Frank Dellaert
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34a9000134
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forceOrder flag respects order of constrained variables passed to conditionalBayesNet
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2012-09-17 00:28:27 +00:00 |
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Frank Dellaert
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bd8f9d0006
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Went back to eliminate all in conditional because of singularities :-(, added use of forceOrder flag
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2012-09-17 00:26:07 +00:00 |
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Frank Dellaert
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db8264aaae
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forceOrder flag respects order of constrained variables passed to ccolamd
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2012-09-17 00:24:49 +00:00 |