Stephen Williams
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1e1dfdd808
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Updated BatchFixedLagSmoother to use the latest version of optimization and marginalization code
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2013-04-25 18:10:21 +00:00 |
Richard Roberts
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fe07dee964
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Moved system eigen switch to top-level CMakeLists so that it's used in all files
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2013-04-25 16:32:06 +00:00 |
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Richard Roberts
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58bade6aa3
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Switched constants to macros to avoid unused variable warnings
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2013-04-25 16:32:05 +00:00 |
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Richard Roberts
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eeef9eab32
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Generating config.h file in CMake with quaternion mode flag, dataset paths. Also added CMake option to use system-installed Eigen, which works by generating a global eigen include file containing the corresponding include paths.
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2013-04-25 15:57:15 +00:00 |
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Richard Roberts
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5f3238634d
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Added missing GTSAM_UNSTABLE_EXPORT tag
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2013-04-25 15:57:06 +00:00 |
Alex Cunningham
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38af960c53
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removed commented line
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2013-04-24 17:34:49 +00:00 |
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Alex Cunningham
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1c17065376
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Removed unnecessary templated traits from partial pose priors - now uses rotationInterval and translationInterval
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2013-04-24 17:34:48 +00:00 |
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Richard Roberts
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124a38f72d
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Made unit test local vars/functions in anonymous namespace
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2013-04-22 17:44:09 +00:00 |
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Richard Roberts
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dd84ffcc8e
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Fix in Rot3Q constructor
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2013-04-22 17:44:07 +00:00 |
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Richard Roberts
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bd38ae5c68
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Added Alex as author
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2013-04-22 17:44:06 +00:00 |
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Richard Roberts
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82c8fffd28
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Added missing dllexport in LieScalar
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2013-04-22 17:44:05 +00:00 |
Duy-Nguyen Ta
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cde44b2952
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Finally finish implementing the Reconstruction factor for updating the poses of holonomic vehicles using discrete variational integrators (eq. 10 in [Kobilarov09siggraph]). Also, better approximation for the derivative of the inverse expmap wrt the lie algebra in Pose3. Test with numericalderivative.
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2013-04-22 08:34:40 +00:00 |
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Duy-Nguyen Ta
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b1b05887fc
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allow method starting with uppercase letter to be wrapped in matlab. Wrap Pose3's AdjointMap and Adjoint operator
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2013-04-21 19:29:41 +00:00 |
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Duy-Nguyen Ta
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96f9ecaf53
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Change "adjoint" and "adjoint_map" to Adjoint and Adjoint_map, since they correspond to Lie group's Ad operator. Implement the Lie algebra's adjoint operator, aka Lie bracket, and the inverse right-trivialized tangent map of the exponential map using the trapezoidal Lie-Newmark scheme, as detailed in [Kobilarov09siggraph]
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2013-04-21 05:50:07 +00:00 |
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Stephen Williams
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c1f14d60be
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Purged unused code
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2013-04-19 12:16:18 +00:00 |
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Stephen Williams
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201ca3da9e
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Removed debug print statement
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2013-04-19 12:16:04 +00:00 |
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Stephen Williams
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3eade960b8
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Fixed bugs in marginal generation. It is possible that the marginalization will be "perfect", resulting in no marginal factor. However, a factor was being created anyway.
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2013-04-19 12:13:43 +00:00 |
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Stephen Williams
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584f5c6c8c
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Fixed typos in class names
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2013-04-18 21:01:44 +00:00 |
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Alex Cunningham
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88d3def0db
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Added assert_inequal for matrices
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2013-04-18 18:12:37 +00:00 |
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Richard Roberts
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ddea66e026
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Disabled additional msvc warnings
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2013-04-18 17:41:56 +00:00 |
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Richard Roberts
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31cbc7c826
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relax two test criterion from 1e-5 to 2e-3 so they pass on Ubuntu VM
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2013-04-18 17:41:55 +00:00 |
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Duy-Nguyen Ta
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541d416c84
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comment for VelocityConstraint3::evaluateError
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2013-04-17 21:25:15 +00:00 |
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Duy-Nguyen Ta
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494885bf1d
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factors for the pendulum discrete mechanics in position-momentum form to use with variational integrator
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2013-04-16 19:07:59 +00:00 |
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Alex Cunningham
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6b87b9d307
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comments only
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2013-04-16 16:52:21 +00:00 |
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Stephen Williams
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6ffe6a08df
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Fixed bug in LinearContainerFactor only present during relinearization
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2013-04-16 14:58:09 +00:00 |
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Duy-Nguyen Ta
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37d244e49b
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fix bug in PendulumFactor2's jacobian
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2013-04-16 02:17:19 +00:00 |
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Duy-Nguyen Ta
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6a139bd0f8
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Factors for the simple Pendulum dynamics for being used with explicit/implicit/sympletic Euler integrators as in [Stern06siggraph]
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2013-04-15 21:31:47 +00:00 |
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Stephen Williams
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c2fb82b935
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Added matlab wrapping for Fixed-Lag Smoothers and Concurrent Filters and Smoothers
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2013-04-15 19:54:46 +00:00 |
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Stephen Williams
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f216e97a15
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Modified the getter method in the FixedLagSmoother base class to follow general GTSAM conventions
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2013-04-15 17:53:33 +00:00 |
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Alex Cunningham
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6804ef77b1
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Removing limitation on precision in Pose2::print()
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2013-04-15 16:35:13 +00:00 |
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Stephen Williams
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41238572c1
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Extended the Concurrent Filtering and Smoothing example to include a delayed loop closure
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2013-04-15 16:07:40 +00:00 |
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Duy-Nguyen Ta
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ed1f5f7576
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add cpp file for LieScalar. Try to debug the "same-name-different-type" problem in matlab wrapper.
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2013-04-12 15:43:36 +00:00 |
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Stephen Williams
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693a0f991a
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Added the Filter<->Smoother synchronization back into the example
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2013-04-12 13:05:52 +00:00 |
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Stephen Williams
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f3007f5013
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Moved the pre-sync code back into the presync() function call. This allows the Filter and Smoother to synchronize properly even when no call to smoother.update() has been made.
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2013-04-12 13:05:20 +00:00 |
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Stephen Williams
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34d7742d95
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Added first version of a Concurrent Filtering and Smoothing example
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2013-04-12 12:53:34 +00:00 |
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Stephen Williams
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03db2b7e55
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Modified comments
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2013-04-12 12:53:05 +00:00 |
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Stephen Williams
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460a428c97
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Provided default parameters for concurrent batch filter and smoother constructors
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2013-04-12 12:52:29 +00:00 |
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Stephen Williams
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1c738123b9
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Fixed inconsistency between odometry measurements and initializations
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2013-04-12 12:51:22 +00:00 |
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Stephen Williams
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5087e4eabc
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Modified Fixed-Lag Smoothing example to call iSAM2 multiple times to recover the same solution as batch
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2013-04-11 21:10:32 +00:00 |
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Stephen Williams
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321de2f701
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Removed debugging check from IncrementalFixedLagSmoother and added work around for tree reordering
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2013-04-11 20:55:55 +00:00 |
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Stephen Williams
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c902908115
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Added 'examples' folder to gtsam_unstable
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2013-04-11 20:47:25 +00:00 |
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Stephen Williams
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95e97c2dfc
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Changed the default 'enforceConsistency' flag to true in the Batch Fixed-Lag Smoother to match the incremental version
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2013-04-11 20:07:58 +00:00 |
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Stephen Williams
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d44a9e3b75
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Removed unused code from Concurrent Batch Filter unit test
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2013-04-11 19:16:52 +00:00 |
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Stephen Williams
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f963aeb401
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Completed rewrite of synchronization functions for the Concurrent Batch Filter
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2013-04-11 19:16:15 +00:00 |
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Stephen Williams
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04d595dec1
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Started re-implementing the synchronization functions for the Concurrent Filter
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2013-04-11 12:43:42 +00:00 |
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Stephen Williams
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634a4c5ef9
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Updated Concurrent Smoother for changes in the base class synchronization
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2013-04-11 12:42:45 +00:00 |
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Stephen Williams
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0a459549f8
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Updated synchronization interface to require the smoother and filter to track their own separator keys and values
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2013-04-11 12:42:09 +00:00 |
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Duy-Nguyen Ta
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08e6d8860b
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wrap VelocityConstraint3
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2013-04-11 12:07:42 +00:00 |
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Duy-Nguyen Ta
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72325d673d
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simple 3-way factor velocity constraint with LieScalar
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2013-04-10 22:02:21 +00:00 |
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Stephen Williams
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1952337e23
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Removed unused code from Concurrent Batch Smoother
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2013-04-10 21:08:52 +00:00 |