Frank Dellaert
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a1d14ba2ae
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Added Bayes Net and Subgraph preconditioners to gtsam (developed in CitySLAM project)
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2009-12-31 12:56:47 +00:00 |
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Frank Dellaert
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730f4a546f
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Added planar graph with easy subtree
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2009-12-31 12:55:51 +00:00 |
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Frank Dellaert
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07cc95e4c4
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Comments and formatting
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2009-12-31 12:55:16 +00:00 |
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Frank Dellaert
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eaa8176de1
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correct behavior when entire columns are zero
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2009-12-31 10:30:44 +00:00 |
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Frank Dellaert
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46a65d89df
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using ediv_ where needed
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2009-12-31 10:30:06 +00:00 |
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Frank Dellaert
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f7d5b517a4
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ediv_ is same as ediv except returns 0 for 0/0 division, needed for dealing with constraints
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2009-12-31 10:29:25 +00:00 |
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Frank Dellaert
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3fbc857a9e
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fixed behavior of error for sigma==0
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2009-12-31 10:28:43 +00:00 |
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Frank Dellaert
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9b327d1a9d
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added reset
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2009-12-31 10:27:39 +00:00 |
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Frank Dellaert
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bf85f10de7
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subtraction
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2009-12-31 10:27:16 +00:00 |
Michael Kaess
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b4e65e9631
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progress in ISAM2, but unit test still disabled
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2009-12-31 05:35:08 +00:00 |
Richard Roberts
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afc3028ad5
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Fixed bug in testPose2Factor optimize unit test where only the first expected value was checked.
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2009-12-30 18:41:33 +00:00 |
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Frank Dellaert
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793a9d58ae
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Errors is now a list
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2009-12-30 17:13:36 +00:00 |
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Frank Dellaert
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f80ac5d7d5
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backSubstitute functions (unit-tested in CitySLAM) for preconditioning
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2009-12-30 17:13:24 +00:00 |
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Frank Dellaert
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2368f3605a
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getReference
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2009-12-30 14:53:40 +00:00 |
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Frank Dellaert
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15bb00683a
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transpose backsubstitute on upper-triangular matrix
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2009-12-30 13:20:16 +00:00 |
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Michael Kaess
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42fca8c399
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nonlinear update, all but rhs/config
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2009-12-30 04:27:14 +00:00 |
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Richard Roberts
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0b9451bc4b
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Initializing libtool correctly in gtsam (see email to frankcvs with same subject)
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2009-12-29 20:01:38 +00:00 |
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Michael Kaess
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737a2f1e05
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unit test enabled again and working
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2009-12-29 14:54:45 +00:00 |
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Frank Dellaert
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c43cd425ab
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new back-substitution functions that can do unit triangular solves
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2009-12-29 13:59:34 +00:00 |
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Michael Kaess
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75ab62a729
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ISAM2 (nonlinear ISAM) partially there, unit test currently disabled
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2009-12-29 05:57:05 +00:00 |
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Frank Dellaert
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8d4a029665
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rhs method
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2009-12-28 18:46:01 +00:00 |
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Frank Dellaert
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543d3fcd65
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System now a class (gradient is method)
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2009-12-28 17:28:48 +00:00 |
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Frank Dellaert
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0c0b73042b
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template now exposed in iterative.h, and has its own implementation file
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2009-12-28 16:26:16 +00:00 |
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Frank Dellaert
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5ac304aff3
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correct convergence criterion, verbose flag
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2009-12-28 16:15:26 +00:00 |
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Frank Dellaert
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674ae9d030
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steepest descent now all implemented in iterative.h/cpp
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2009-12-28 12:37:34 +00:00 |
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Frank Dellaert
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bc27afc49f
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CGD method now uses CGD template in iterative.cpp
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2009-12-28 10:48:48 +00:00 |
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Frank Dellaert
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863ee58c0f
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new iterative.h/cpp compilation unit
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2009-12-28 09:56:58 +00:00 |
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Frank Dellaert
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d9fd502656
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moved CG tests from testGFG to testIterative
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2009-12-28 09:44:30 +00:00 |
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Frank Dellaert
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1fac98b4cb
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Errors:dot, VectorConfig::operator*/-, as a result Conjugate Gradient Descent template now works for factor graphs
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2009-12-28 08:15:09 +00:00 |
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Michael Kaess
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5dfd1921e1
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template nightmare resolved, all tests working
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2009-12-27 23:15:36 +00:00 |
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Frank Dellaert
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266fc56dea
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Gradient using new operator^ and errors method
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2009-12-27 12:13:31 +00:00 |
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Frank Dellaert
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7d1428de60
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Added Errors class and operator* for GaussianFactor and GaussianFactorGraph. Also moved a few functions to cpp.
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2009-12-26 22:48:41 +00:00 |
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Frank Dellaert
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6614434b83
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System version of CG
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2009-12-26 21:25:45 +00:00 |
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Richard Roberts
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8d3918e7f9
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Typo made testPose2Factor not build on Linux
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2009-12-26 19:31:02 +00:00 |
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Frank Dellaert
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f3965b07ca
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Conjugate Gradient Descent template (in progress)
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2009-12-26 15:06:54 +00:00 |
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Frank Dellaert
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886c7dcdcc
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formatting and comments
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2009-12-26 15:06:21 +00:00 |
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Frank Dellaert
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8dbf79706e
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commented out two broken tests
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2009-12-26 15:05:55 +00:00 |
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Michael Kaess
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4403b51fcd
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isam functionality separated into ISAM class, still within BayesTree
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2009-12-26 04:44:13 +00:00 |
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Frank Dellaert
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2cb52694b5
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Multiply with transpose sugar A'*v = A^v
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2009-12-25 17:52:58 +00:00 |
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Michael Kaess
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80ff7e6d26
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uncommented urban In Makefile.am as it prevents linking; added Pose2Prior; ISAM2/planar now working
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2009-12-24 23:44:08 +00:00 |
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Richard Roberts
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92b60a8543
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Made 'between' derivatives in the tangent space of the solution instead of tangent space of identity, this makes Pose2 an "origin-free" manifold.
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2009-12-21 16:43:23 +00:00 |
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Frank Dellaert
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d0b757da48
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remove method to set factor to NULL
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2009-12-20 21:21:01 +00:00 |
justinca
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3158a5c7c1
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Rework UrbanMeasurement to be more efficient, less duplicate code. Add real unit tests for the class
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2009-12-20 14:59:37 +00:00 |
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Frank Dellaert
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d362fa13d8
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print is more intuitive using reverse order
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2009-12-20 11:56:33 +00:00 |
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Frank Dellaert
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18c44e0d1f
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Comments only
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2009-12-20 10:32:34 +00:00 |
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justinca
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7012fd2857
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UrbanMeasurement first pass at implementation. Still need to add test data, sort out some details.
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2009-12-18 19:43:55 +00:00 |
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Richard Roberts
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82825a30bf
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Fixed unit test broken by fix in Pose2Factor
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2009-12-18 14:42:19 +00:00 |
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Frank Dellaert
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b14094cb1f
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testUrbanOdometry
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2009-12-18 07:15:19 +00:00 |
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Frank Dellaert
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d11d674c01
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addOdometry now works
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2009-12-18 06:55:44 +00:00 |
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Frank Dellaert
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c987ab397c
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error_vectors
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2009-12-18 06:55:24 +00:00 |
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Frank Dellaert
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bf504d30db
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new concatVectors call
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2009-12-18 06:11:19 +00:00 |
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Frank Dellaert
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ac72d1cc22
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renamed transformPose_to to transform_to, composeTransform to compose, and changed nr. of arguments of Dtransform_to2 (to two)
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2009-12-18 05:36:53 +00:00 |
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Frank Dellaert
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eaf27af92d
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error_vector and error unit-tested
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2009-12-18 05:18:31 +00:00 |
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Frank Dellaert
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edb72d305f
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better error message, formatting
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2009-12-18 05:16:09 +00:00 |
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Frank Dellaert
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0194926dc2
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transpose not needed
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2009-12-18 05:14:34 +00:00 |
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Frank Dellaert
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c9bd327961
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formatting
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2009-12-18 05:14:08 +00:00 |
Alex Cunningham
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e2bc13a2a6
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Renaming gradients -> jacobians
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2009-12-18 03:05:47 +00:00 |
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Frank Dellaert
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a3deb992c4
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use BOOST_FOREACH
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2009-12-18 02:48:21 +00:00 |
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Alex Cunningham
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a1918056a5
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Changed NonlinearConstraints to take cost and gradient functions that do not take the list of keys. Tests have been reconstructed using boost::bind
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2009-12-18 02:39:02 +00:00 |
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Frank Dellaert
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5a0bc8ab53
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remove binaries
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2009-12-18 02:30:05 +00:00 |
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Frank Dellaert
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cf1fde7bda
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UrbanFactor, UrbanGraph.cpp, template instantiations
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2009-12-18 02:27:50 +00:00 |
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Alex Cunningham
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7d0de77fc6
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Changed argument ordering for constraints
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2009-12-18 01:40:29 +00:00 |
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Frank Dellaert
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7dfc67860c
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unit tests for new Urban* classes
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2009-12-18 01:24:28 +00:00 |
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Alex Cunningham
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d75a602546
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Removed failed test testSQPOptimizer
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2009-12-18 01:24:19 +00:00 |
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Richard Roberts
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ff817551de
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Added FactorGraph::replace(index, factor) to replace one factor with another (used in FrameSLAM).
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2009-12-18 00:13:38 +00:00 |
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Richard Roberts
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3c0ae0ec1c
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Math fix in linearize() and error_vector()
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2009-12-18 00:10:20 +00:00 |
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Richard Roberts
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7161878285
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Small changes: standardized constructors, added log() and unit tests, removed +,- ops, angle() changed to theta(), print functions
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2009-12-18 00:09:54 +00:00 |
Viorela Ila
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d61d92c0e7
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UrbanGraph class and testUrbanGraph TODOs
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2009-12-17 21:23:50 +00:00 |
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Frank Dellaert
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68de3ae715
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better comments
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2009-12-17 19:34:27 +00:00 |
Manohar Paluri
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dc9a966fdd
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moved shared pointer declaration to Cal3_S2.h
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2009-12-17 10:02:43 +00:00 |
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Richard Roberts
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3326759f0b
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Removed extra ;
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2009-12-16 21:41:33 +00:00 |
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Richard Roberts
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c45f64657f
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Changes to make Pose2Config work with NonlinearOptimizer
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2009-12-16 21:40:41 +00:00 |
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Richard Roberts
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83c95f2343
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Changed constructor used from Pose2(t,R) to Pose2(R,t)
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2009-12-16 21:39:03 +00:00 |
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Frank Dellaert
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9efac7b3fb
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Some re-naming and re-formatting only
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2009-12-15 05:34:49 +00:00 |
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Richard Roberts
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94f986bbe7
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Indentation
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2009-12-15 00:00:02 +00:00 |
Chris Beall
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a7a5e5e816
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small performance improvement by using a pointer to address r
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2009-12-14 16:56:50 +00:00 |
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Richard Roberts
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71bc9ca0f7
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Added unit tests that were missing
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2009-12-14 15:45:45 +00:00 |
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Richard Roberts
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971b575715
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Fix duplicate definition error by adding 'inline' to checkConvergence
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2009-12-14 06:10:51 +00:00 |
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Michael Kaess
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2270c7d787
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BayesTree animation
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2009-12-14 06:01:15 +00:00 |
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Richard Roberts
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c4b60bfd65
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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.
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2009-12-14 03:02:05 +00:00 |
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Michael Kaess
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0116b3a515
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severe bug fixed in updating of Bayestree
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2009-12-13 20:54:48 +00:00 |
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Viorela Ila
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d5d70d7751
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gradientDescent_ and conjugateGradientDescent_ works in matlab
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2009-12-13 03:02:14 +00:00 |
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Frank Dellaert
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6e3f36dc63
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Trying different orderings
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2009-12-12 12:53:39 +00:00 |
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Frank Dellaert
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2914d663de
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No print in tests
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2009-12-12 06:18:59 +00:00 |
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Frank Dellaert
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c38683cd64
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Sped up and fixed (?) sparse
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2009-12-12 06:18:29 +00:00 |
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Frank Dellaert
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99533f286f
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Vanilla Conjugate Gradient Descent works
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2009-12-12 04:44:34 +00:00 |
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Frank Dellaert
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2a2963b7dd
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Added a numerical gradient calculation test
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2009-12-12 04:13:12 +00:00 |
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Frank Dellaert
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56a4172480
|
Fixed printing in matlab
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2009-12-12 04:12:24 +00:00 |
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Chris Beall
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be10fc2a90
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18% performance boost by using pointer to address destination matrix A
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2009-12-11 23:59:37 +00:00 |
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Viorela Ila
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631248f902
|
no print yet
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2009-12-11 23:16:57 +00:00 |
|
Viorela Ila
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570c6a3c71
|
print method for Pose2Graph
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2009-12-11 23:00:52 +00:00 |
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Viorela Ila
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8a9f05059c
|
implement getOrdering_ to work in matlab
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2009-12-11 22:53:48 +00:00 |
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Frank Dellaert
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a1e90af90f
|
exmap that takes Vector
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2009-12-11 22:43:34 +00:00 |
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Frank Dellaert
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137291b2c9
|
Vector-like operators
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2009-12-11 21:38:08 +00:00 |
|
Frank Dellaert
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e46cfbd7c4
|
fixed bug in sum
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2009-12-11 21:37:52 +00:00 |
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Frank Dellaert
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bca489384e
|
dot product
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2009-12-11 21:37:40 +00:00 |
|
Viorela Ila
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76b55aba7d
|
linearize method for Pose2Graph works in Matlab!!
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2009-12-11 21:34:08 +00:00 |
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Viorela Ila
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03304ac421
|
testPose2Graph tests linearize
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2009-12-11 19:32:46 +00:00 |
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Frank Dellaert
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a66f08a5e0
|
testing new alphaFactor
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2009-12-11 18:03:43 +00:00 |
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Frank Dellaert
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f91a1f0192
|
error_vector
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2009-12-11 17:42:54 +00:00 |