Alex Cunningham
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36f9ebae90
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Removed files full of broken code, removed simulated2D matlab files, condensed slam unit tests, added the only known test for SPCG in gtsam
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2011-06-04 20:42:29 +00:00 |
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Alex Cunningham
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b498d64554
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Added denseJacobian() to GaussianFactorGraph
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2011-06-04 17:18:25 +00:00 |
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Alex Cunningham
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c4d9208eeb
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Added serialization for most linear/inference structures, simulated2D - serialization, except for example domains, should be complete
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2011-06-04 16:52:54 +00:00 |
Richard Roberts
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265b057580
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Removed key sorting from NonlinearFactor
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2011-06-04 14:54:27 +00:00 |
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Richard Roberts
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5ea18829b5
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Fixed code comments to indicate that assertInvariants does not check for sorted keys
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2011-06-04 12:54:43 +00:00 |
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Alex Cunningham
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1c6901a564
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Changed the paths for datasets to avoid using CitySLAM or hogman in default paths - the default is now HOME/data
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2011-06-03 21:48:42 +00:00 |
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Alex Cunningham
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c44315fec8
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Added more serialization - geometry is done, jacobian and hessian factors done, visual system done. Split projection factor out from visual SLAM into separate header
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2011-06-03 21:32:27 +00:00 |
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Alex Cunningham
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29e2ee8d9d
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Removed unnecessary serialization header
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2011-06-03 19:29:49 +00:00 |
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Alex Cunningham
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9160775d2a
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Added nonlinear constraints to gtsam library
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2011-06-03 15:07:11 +00:00 |
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Alex Cunningham
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79c09708e8
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Assorted cleanup to remove ublas references, switch more Vector/Matrix utility functions to use Eigen in templates, reimplemented backsubstitution with Eigen
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2011-06-02 20:35:02 +00:00 |
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Alex Cunningham
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0b639e9287
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Removed DLONG flag from compilation of ccolamd to fix linking error
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2011-06-02 15:40:47 +00:00 |
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Alex Cunningham
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9dcdf7f2c1
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Updated readme to remove manual linking of ccolamd, removed unnecessary linking of ccolamd in base, removed commented configure.ac commands for ccolamd
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2011-06-02 14:35:29 +00:00 |
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Alex Cunningham
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e9b8a48c43
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ccolamd now installs and works with gtsam - all tests pass
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2011-06-02 14:35:26 +00:00 |
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Alex Cunningham
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2d0984e9b4
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Added stripped version of ccolamd with files from UFconfig
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2011-06-02 14:35:19 +00:00 |
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Alex Cunningham
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3236a83f60
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more functionality in PartialPriorFactor
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2011-05-25 14:35:36 +00:00 |
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Alex Cunningham
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a23a9ed4b5
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Added PartialPriorFactor.h to installed headers
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2011-05-24 18:57:41 +00:00 |
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Alex Cunningham
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7066567b75
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Changed test failure messages so that they will trigger line error flags in eclipse
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2011-05-23 18:05:10 +00:00 |
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Alex Cunningham
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611b5061cd
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Added a generic prior factor for specific components of a variable
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2011-05-23 17:29:13 +00:00 |
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Alex Cunningham
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040493474f
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added more serialization
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2011-05-20 18:43:42 +00:00 |
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Alex Cunningham
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2e942f08ac
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Removed some extraneous comments from eigen transition
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2011-05-20 18:43:37 +00:00 |
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Alex Cunningham
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8f417150f5
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Updated gtsam readme and example configure scripts
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2011-05-20 15:38:00 +00:00 |
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Alex Cunningham
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e20561be73
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Merge branch 'eigen'
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2011-05-20 13:52:08 +00:00 |
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Alex Cunningham
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d35eb581ee
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Removed experimental cmake files - see the branch cmake_build
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2011-05-19 19:16:03 +00:00 |
Yong-Dian Jian
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f906659e00
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experimental cmake support for linux
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2011-05-09 16:54:34 +00:00 |
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Yong-Dian Jian
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85ff7853eb
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experimental cmake support for linux
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2011-05-09 16:53:08 +00:00 |
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Richard Roberts
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fe126f2e42
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Upgraded to released version of Eigen 3.0 (was using beta before)
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2011-05-02 20:44:52 +00:00 |
Chris Beall
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729b35fe11
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Logmap fix from last week. Rot3 trace > 3 is now handled, previously caused NaN
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2011-05-02 16:59:33 +00:00 |
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Richard Roberts
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7e901f4fad
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Bug fix in debug checks - don't check lower triangle of Hessian because only the upper triangle is used
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2011-04-26 19:40:47 +00:00 |
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Alex Cunningham
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790599799c
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Syntactic sugar for YPR and RPY vector representations of rotation
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2011-04-18 17:10:52 +00:00 |
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Richard Roberts
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7a0daaa7d9
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Fixed HessianFactor error to be consistent with JacobianFactor error and added unit test.
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2011-04-12 22:06:33 +00:00 |
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Richard Roberts
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5057138ef1
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Returning GaussianFactor instead of JacobianFactor from NonlinearFactor::linearize and NonlinearFactorGraph::linearize, so that HessianFactors may be returned as well.
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2011-04-12 21:18:10 +00:00 |
Duy-Nguyen Ta
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6d5dee0860
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numericalHessian for binary functions
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2011-04-11 21:59:17 +00:00 |
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Richard Roberts
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9f1bf3e475
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Created HessianFactor constructors from Hessian matrix, linear, and constant terms. Removed old constructors from Jacobians that were just mirroring the JacobianFactor interface.
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2011-04-11 19:21:05 +00:00 |
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Duy-Nguyen Ta
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c9a6b16bc2
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a more confusing way
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2011-04-10 18:32:09 +00:00 |
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Duy-Nguyen Ta
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10b37db234
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fixing compilation problem in numericalHessian and re-enable the unittest
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2011-04-10 17:47:22 +00:00 |
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Duy-Nguyen Ta
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6a444b558d
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The new testNumericalDerivative for testing numericalHessian doesn't compile on my machine with boost 1.45. Comment it out for now.
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2011-04-08 22:50:07 +00:00 |
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Richard Roberts
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cb999dba58
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Added numericalHessian function for computing the Hessian matrix of a Lie->scalar function
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2011-04-08 22:18:45 +00:00 |
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Richard Roberts
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c52d525763
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Added copyright notice
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2011-04-08 22:18:05 +00:00 |
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Richard Roberts
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1a94808f57
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Tightened thresholds in Rot3, Pose3, Rot2, Pose2, that were "correcting" numbers to zero and one with too loose tolerance. This made it necessary to specify large steps for numerical derivatives (1e-2 instead of the default 1e-5). Fixed this, and updated unit tests to use the default step size.
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2011-04-08 18:41:50 +00:00 |
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Yong-Dian Jian
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b1922464de
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add member functions
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2011-04-04 03:55:50 +00:00 |
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Alex Cunningham
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53bb7584b6
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Added a print function for RangeFactor
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2011-03-31 03:14:21 +00:00 |
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Alex Cunningham
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ce70480ae0
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Made keys_ protected to allow initialization in a constructor body, added constructor for NonlinearFactor allowing more than two keys
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2011-03-30 14:09:34 +00:00 |
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Alex Cunningham
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f244310250
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Fixed serialization for factors and nonlinear factors
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2011-03-30 03:07:14 +00:00 |
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Richard Roberts
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f5eac05add
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Merged factorization branch - sequential and multifrontal factorization with a function argument to specify the elimination method
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2011-03-29 21:32:22 +00:00 |
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Richard Roberts
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07820af903
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Fixed crashes when doing linearize/solve on nonlinear factor graphs with NULL factors
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2011-03-29 19:51:50 +00:00 |
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Richard Roberts
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1bd10e4b21
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Increased precision when printing out convergence info in NonlinearOptimizer
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2011-03-29 19:50:51 +00:00 |
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Alex Cunningham
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21f7673acd
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Generalized range factor to allow for non-planar domains
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2011-03-29 19:49:10 +00:00 |
Frank Dellaert
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a9d66a915d
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comments
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2011-03-29 19:13:35 +00:00 |
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Chris Beall
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d5ad2b2897
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remove print
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2011-03-29 05:53:54 +00:00 |
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Chris Beall
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12d7b05bd9
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changed backProject to project to world coordinates
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2011-03-29 05:40:30 +00:00 |