Richard Roberts
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010c9b3b1c
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Extra assertion
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2011-02-08 18:25:20 +00:00 |
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Richard Roberts
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5b3000fe0a
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More use of FastList, FastSet
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2011-02-08 01:36:51 +00:00 |
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Richard Roberts
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12664813d4
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Avoiding extra work of converting from JacobianFactor to HessianFactor, instead updating HessianFactor directly
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2011-02-07 22:30:31 +00:00 |
John Rogers
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8e27acf27a
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Removing some typename keywords which are not allowed on my compiler g++ 4.4.5
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2011-02-07 17:47:56 +00:00 |
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John Rogers
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190a612086
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Temporarily overriding the FastMap use in LieValues so that LieValues can be serialized properly
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2011-02-07 17:12:53 +00:00 |
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Richard Roberts
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06db4ac770
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Optimized version of symbolic elimination
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2011-02-07 16:39:37 +00:00 |
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John Rogers
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5abe56aaab
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Changed serialization of FastMap to correctly chain the base Map class serialization included with boost::serialization
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2011-02-07 16:23:06 +00:00 |
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Richard Roberts
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fff86f98b5
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Optimizations converting JacobianFactor to HessianFactor (i.e. forming A^T * A)
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2011-02-07 06:09:16 +00:00 |
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Richard Roberts
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cd27192ade
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Indented timing printout
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2011-02-07 06:08:14 +00:00 |
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Richard Roberts
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0339a33de0
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Using Eigen to combine HessianFactors
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2011-02-07 02:49:58 +00:00 |
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Richard Roberts
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ab3dd665a5
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Min/max times are now per time step, not per timing function call, to help identify the cause for costly steps. tictoc_finishedIteration() signals the end of a time step.
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2011-02-06 20:38:51 +00:00 |
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Richard Roberts
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0648605f2f
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Dense Cholesky solving now uses Eigen
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2011-02-06 19:42:15 +00:00 |
Alex Cunningham
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719e851643
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Added a functional version of LM optimization for comparison
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2011-02-06 04:13:32 +00:00 |
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Richard Roberts
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ea2f0e10e1
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Improved timing statements
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2011-02-04 22:31:12 +00:00 |
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John Rogers
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8bec3821df
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Added serialization support for FastMap so that LieValues can be serialized.
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2011-02-04 20:48:16 +00:00 |
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Alex Cunningham
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251d83b41a
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Disabled unit test for serialization of Values, as FastMap does not have serialization
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2011-02-04 05:45:42 +00:00 |
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Richard Roberts
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24b5ab7439
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Back to using FastList
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2011-02-04 04:52:22 +00:00 |
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Richard Roberts
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bdbc09ba42
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Added GaussianFactorGraph::sparseJacobian function to create a sparse Jacobian matrix suitable for Matlab
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2011-02-04 03:56:47 +00:00 |
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Alex Cunningham
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900227234f
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added an accessor for the nonlinear graph in NonlinearOptimizer
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2011-02-04 03:39:45 +00:00 |
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Alex Cunningham
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752e812895
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Fixed a bug in the expm function that assumed a fixed matrix size
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2011-02-04 03:32:39 +00:00 |
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Richard Roberts
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78b0fa054c
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Properly handling zero range in Pose2::bearing, Pose2::range, and Rot2::relativeBearing. Also debugging check for normalized matrix in Pose2::between
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2011-02-04 03:32:27 +00:00 |
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Richard Roberts
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62f716002a
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Further cleanup of fast_pool_allocator
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2011-02-04 03:10:29 +00:00 |
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Richard Roberts
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31ffd3877f
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Cleaned up use of fast_pool_allocator to gtsam::FastMap, List, and Set instead
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2011-02-04 02:56:12 +00:00 |
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Richard Roberts
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7dac32c53b
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Fix in debugging code
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2011-02-04 02:46:23 +00:00 |
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Richard Roberts
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b73af0159d
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Adding debugging code from branch in case problems reoccur, will clean this out in the future because it makes the code ugly
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2011-02-04 02:40:23 +00:00 |
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Richard Roberts
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a67d974254
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Only check for non-finite values when debugging
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2011-02-04 02:38:55 +00:00 |
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Richard Roberts
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a208515055
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Made zero thresholds in Cholesky smaller to fix failing unit test
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2011-02-04 02:38:35 +00:00 |
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Richard Roberts
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689adead55
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Using granular debugging flags, fixed code comment
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2011-02-04 02:36:14 +00:00 |
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Richard Roberts
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161058e402
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Added debug check for non-finite values and replace memset with std::fill
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2011-02-04 02:34:03 +00:00 |
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Richard Roberts
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f89262bd13
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Option to use careful Cholesky instead of lapack Cholesky, more debug checks in Cholesky, and addional use of ublas instead of regular blas.
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2011-02-04 01:05:52 +00:00 |
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Richard Roberts
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24fbe9b02b
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Correct conversion from unsorted HessianFactor (to sorted JacobianFactor) - will soon re-standardize sorting. Also checking for non-finite values in assertInvariants
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2011-02-04 01:01:29 +00:00 |
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Richard Roberts
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9525bd5eb6
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Removed bad unit test
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2011-02-04 00:54:31 +00:00 |
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Richard Roberts
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d4e248debc
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Missing include
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2011-02-04 00:53:00 +00:00 |
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Richard Roberts
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21f33d337c
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Added casting to value type in ValueWithDefault, allows use in 'if' statements, etc. This was needed for the previous check-in of the global debug flags. Also added code comments.
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2011-02-04 00:51:31 +00:00 |
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Richard Roberts
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7cdb9b3564
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print(Matrix) now formats to allow pasting into C++ code, by including commas and formatting zeros as '0.0'
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2011-02-04 00:49:20 +00:00 |
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Richard Roberts
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3dc36369d9
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Added a "matrix order" parameter to choleskyCareful so that it can be used to factor the frontal piece in choleskyPartial. choleskyCareful also now returns a bool indicating whether the input matrix is full-rank. Also added an additional Cholesky unit test.
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2011-02-04 00:47:08 +00:00 |
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Richard Roberts
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3d9f7294a9
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Adding functions to get and set global granular debug flags that can be controlled at runtime, see debug.h.
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2011-02-04 00:32:30 +00:00 |
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Richard Roberts
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62aa7a6681
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Changed problematic blas call to ublas - was sometimes producing incorrect results but I do not know why :-(
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2011-02-04 00:00:31 +00:00 |
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Richard Roberts
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654f4da4e5
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Adding build-relwithdebinfo to svn:ignore
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2011-02-02 23:48:00 +00:00 |
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Alex Cunningham
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86c0c06689
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Added global functions to Lie to allow for template access to full expmap/logmap
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2011-02-02 06:31:23 +00:00 |
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Alex Cunningham
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8398c8a53d
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Made versions with [expmap|logmap]Full() for Pose2 and Pose3 to allow access to complete expmap functions, while also allowing for the concurrent existence of the approximate expmap for optimization speed
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2011-02-02 05:17:21 +00:00 |
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Alex Cunningham
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37ee4f6cb3
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Added a test for Ordering, added pop_back() to ordering, made changing the ordering in NonlinearISAM possible
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2011-02-02 03:50:06 +00:00 |
Frank Dellaert
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a09a9683f9
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Added covariance calculation to advanced Planar SLAM example
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2011-01-30 17:03:21 +00:00 |
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Frank Dellaert
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89925d2a71
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Some formatting and reference to USAGE
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2011-01-30 16:21:09 +00:00 |
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Alex Cunningham
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e4cda1b360
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Added accessor for NonlinearISAM, comments and whitespace
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2011-01-29 00:53:15 +00:00 |
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Richard Roberts
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d87ffe7ece
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Bug fix and unit test HessianFactor::CombineAndEliminate when keys are not sorted
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2011-01-26 22:53:14 +00:00 |
|
Alex Cunningham
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38324ce080
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Fixed compilation error due to typename keyword in a cpp file
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2011-01-26 04:59:24 +00:00 |
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Richard Roberts
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8f9542b67d
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Re-implemented eliminated factor caching needed for ISAM2 (need to move this to the ISAM2 class though, see ticket)
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2011-01-25 22:30:59 +00:00 |
|
Richard Roberts
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7b0a63ecd3
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Fixed type error
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2011-01-25 22:30:04 +00:00 |
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Richard Roberts
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5ffc3fc27e
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Additional symbolic factor unit test (in conjunction with symbolic elimination fix)
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2011-01-25 22:29:50 +00:00 |