Alex Cunningham
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276c027ef3
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Added mechanism to check for blas functionality.
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2010-03-16 13:06:24 +00:00 |
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Alex Cunningham
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ae98bb72fe
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Added define for CBLAS to the mac version so that blas functions are actually used
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2010-03-16 12:51:05 +00:00 |
Kai Ni
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5b86f2777b
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added USE_BLAS_MACOS and changed old USE_BLAS to USE_BLAS_LINUX to make ublas compilable on mac
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2010-03-15 20:10:36 +00:00 |
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Kai Ni
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942893ebca
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move trylambda before printing all the configs
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2010-03-15 18:38:08 +00:00 |
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Alex Cunningham
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a1273a91fc
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Integrated blas into gtsam using autotools
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2010-03-15 18:17:43 +00:00 |
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Alex Cunningham
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3a5aeeeb0d
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added test for insert function in TupleConfig that takes other configs
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2010-03-15 16:34:40 +00:00 |
Frank Dellaert
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503fe46306
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changed template argument names
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2010-03-12 22:00:55 +00:00 |
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Frank Dellaert
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10af1930bb
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Eiffel datasets
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2010-03-12 21:56:14 +00:00 |
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Frank Dellaert
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00ac961c8a
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I changed the name of SubgraphPCG to SubgraphSolver and put it in its own compilation unit
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2010-03-12 19:19:21 +00:00 |
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Frank Dellaert
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f217a5bd8a
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I reverted back to the old expmap in Pose3 :-( It does not work well for Urban, and now it turns out Yong-Dian has problems, too. It seems there is still something that we do not quite understand about the whole Lie group optimization business. If you want to run with the new expmap, define CORRECT_POSE3_EXPMAP
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2010-03-12 19:16:53 +00:00 |
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Frank Dellaert
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91f020fee1
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fixed namespaces
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2010-03-12 18:52:04 +00:00 |
Manohar Paluri
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a4c769fddc
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Added serialization to Pose2
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2010-03-12 14:20:29 +00:00 |
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Frank Dellaert
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26304b749a
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MAJOR: I made the correct Pose3 expmap the default. It turns out that all but the transform_to derivatives were in fact correct (and I fixed transform_to based on new math in math.lyx), but there was still a wrong expmap and logmap in the header file that I forgot about. I now moved those the te cpp file. The new code, which executes a correct "screw motion" for the exponential map, is now linked in by default. If you want the old, incorrect behavior, configure with FASTER_BUT_INCORRECT_EXPMAP defined. Note that the old code is faster per expmap, but *converges* faster (and to a deeper minimum) and hence is faster overall in many cases.
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2010-03-11 21:52:24 +00:00 |
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Frank Dellaert
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b4a9ad2a9c
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images
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2010-03-11 21:48:01 +00:00 |
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Frank Dellaert
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1cba03a490
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Always do BOOST_FOREACH with a reference if you can! In this case, made a noticeable difference in performance by avoiding hundreds of thousands of mallocs.
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2010-03-11 21:40:56 +00:00 |
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Frank Dellaert
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84c25b2346
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inverse action, much nicer
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2010-03-11 21:39:44 +00:00 |
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Frank Dellaert
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67fb7fa9ff
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in-place house vector (was about 10% of all mallocs in Urban)
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2010-03-11 15:04:31 +00:00 |
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Frank Dellaert
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b726e8e5e2
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typos
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2010-03-11 13:45:39 +00:00 |
Richard Roberts
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cf28e3ab04
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Removed unused TupleConfigEnd global expmap and logmap as they were causing function resolution problems
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2010-03-10 16:30:00 +00:00 |
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Richard Roberts
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d149afbec2
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Adding lambdaMode flag - defaults to BOUNDED (bounds lambda at 1e5), CAUTIOUS is currently broken.
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2010-03-10 16:27:38 +00:00 |
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Frank Dellaert
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fb1396d1c3
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zero method
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2010-03-10 00:21:01 +00:00 |
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Frank Dellaert
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e10938688e
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removed dim_ (which was buggy) and added zero
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2010-03-10 00:20:12 +00:00 |
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Frank Dellaert
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0f78d861ad
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version I gave to Jean Gallier
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2010-03-10 00:12:05 +00:00 |
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Kai Ni
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266ad062fe
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added empty method
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2010-03-09 22:26:24 +00:00 |
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Manohar Paluri
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fd863fa7ac
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added calibrate function which transforms image coordinates to intrinsic coordinates and added a unit test to check the validity
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2010-03-09 22:23:33 +00:00 |
Viorela Ila
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bfd5b5ab5d
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remove tree files
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2010-03-08 20:35:35 +00:00 |
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Richard Roberts
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9aa76cfcbd
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0-based index bug fix
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2010-03-08 18:45:22 +00:00 |
Yong-Dian Jian
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536dfd5ea1
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fix calibrated camera
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2010-03-08 15:43:35 +00:00 |
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Richard Roberts
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74f8102d29
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Fixed warnings
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2010-03-08 14:06:07 +00:00 |
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Frank Dellaert
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d478767d4d
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righ-hand-side
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2010-03-08 03:56:49 +00:00 |
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Frank Dellaert
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920d86ce35
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Both GaussNewton and LM now exit immediately if initial error<absoluteThreshold, and pront out a messsage saying that if verbisty>=ERROR
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2010-03-07 17:51:46 +00:00 |
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Frank Dellaert
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d4447cbe48
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inserted figures
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2010-03-07 17:50:27 +00:00 |
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Manohar Paluri
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e9ea8b426a
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fixed a bug in equals
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2010-03-07 06:29:23 +00:00 |
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Manohar Paluri
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9b93731ed9
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removed caching of size and dim in PairConfig as it was buggy
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2010-03-07 06:16:49 +00:00 |
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Frank Dellaert
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2f72d585c5
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be a bit more verbose
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2010-03-07 00:10:02 +00:00 |
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Alex Cunningham
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3e2924a5bf
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Uncommented some testSQP tests, which do work
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2010-03-06 22:51:03 +00:00 |
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Alex Cunningham
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7c3dbf164e
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Fixed bug in ternary functions
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2010-03-06 17:27:01 +00:00 |
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Alex Cunningham
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294c7d806e
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Changed Doxyfile to make graphviz images - needs to have graphviz installed
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2010-03-06 02:43:21 +00:00 |
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Alex Cunningham
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3cf36f4aee
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Added remaining terms for derivatives of ternary factors
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2010-03-05 22:27:57 +00:00 |
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Frank Dellaert
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0eed38c7a0
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VisualSLAM Graph is now a class and has convenience functions. These function as documentation (autocompletion and the like) and I think we should also have this style in addition to the generic add.
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2010-03-05 15:48:01 +00:00 |
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Frank Dellaert
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5ef0400e06
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put Factorization class in its own file, and added checks in constructors that take shared pointers, so we get some more meaningful output rather than *segmentation error*
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2010-03-05 15:09:09 +00:00 |
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Viorela Ila
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fccbaa2d6f
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right folders
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2010-03-05 05:41:21 +00:00 |
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Frank Dellaert
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45b2eef13f
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Adjoint
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2010-03-05 03:02:23 +00:00 |
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Viorela Ila
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abf7758374
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now datasets are in CitySALM/data/XXXX/xxxx.graph
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2010-03-05 02:58:59 +00:00 |
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Yong-Dian Jian
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43df7375c0
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add helper functions
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2010-03-05 00:55:36 +00:00 |
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Kai Ni
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d0d2aa8aee
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added erase method
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2010-03-04 23:39:36 +00:00 |
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Alex Cunningham
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d6c2b415a5
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Added a check to NonlinearOptimizer to short circuit optimization if the initial error is below the absolute threshold.
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2010-03-04 22:46:27 +00:00 |
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Alex Cunningham
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4ae9b72a35
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Commented marginalGaussian() due to compile error
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2010-03-04 22:40:01 +00:00 |
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Richard Roberts
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5f8b0e9341
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Added marginalGaussian to get a marginal on a single variable from a GaussianFactorGraph
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2010-03-04 22:03:40 +00:00 |
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Alex Cunningham
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badc7b6ee6
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Added keys() function to LieConfig to return an ordered list of keys
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2010-03-04 13:21:48 +00:00 |