Frank Dellaert
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55e85fd8a5
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[involves] checks whether variable with that key is involved in any factor
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2009-11-20 05:14:34 +00:00 |
Alex Cunningham
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6aba2f1c1c
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Changed initial SQP example to use exmap using the new scaling function for VectorConfig
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2009-11-20 05:13:32 +00:00 |
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Alex Cunningham
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acfe742c29
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Added a simple scaling function for VectorConfigs
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2009-11-20 05:10:55 +00:00 |
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Alex Cunningham
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714edb57f0
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Basic implementation of a binary nonlinear constraint, with working linearization of a binary constraint.
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2009-11-20 03:50:48 +00:00 |
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Alex Cunningham
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ee4a066275
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Implemented linearization and equality for unary NonlinearConstraints. Current tests use a scalar example. Split out implementation into a separate implementation file.
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2009-11-20 03:04:49 +00:00 |
Michael Kaess
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4ca1dbf325
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generalized most of the update algorithm
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2009-11-19 23:25:03 +00:00 |
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Alex Cunningham
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429f27550c
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Added a NonlinearConstraint and testNonlinearConstraint. There is currently an abstract base class for constraints and a partially implemented unary constraint.
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2009-11-19 16:50:18 +00:00 |
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Frank Dellaert
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cd913566f2
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I now use push_back to add factors to the new factor graph, and called getOrdering to compute a colamd order. I fixed the test so it checks the right order. Unfortunately colamd is a worse ordering, and the two cliques from before are merged into one.
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2009-11-19 06:37:06 +00:00 |
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Frank Dellaert
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8d8503bd99
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constructor with three parents
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2009-11-19 06:34:28 +00:00 |
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Frank Dellaert
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b2eee54b5a
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push_back an entire factor graph
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2009-11-19 06:34:07 +00:00 |
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Frank Dellaert
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e2a3d1cb8f
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Fixed test
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2009-11-19 04:52:46 +00:00 |
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Alex Cunningham
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f98f49381a
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Added an example to testSQP to use for combining graphs
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2009-11-18 21:57:59 +00:00 |
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Alex Cunningham
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d700cd2cac
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Made some small changes to testSQP to simplify the system and improve convergence.
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2009-11-18 20:23:07 +00:00 |
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Alex Cunningham
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7fc68e2d90
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Updated testSQP to use a real SQP implementation as separate factors on the previous problem. SQP now works.
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2009-11-18 19:42:14 +00:00 |
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Frank Dellaert
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76d0a60b88
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commented out all print statements
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2009-11-18 18:22:08 +00:00 |
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Frank Dellaert
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f40182518a
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size() now returns correct nr. of cliques, not number of keys
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2009-11-18 18:05:12 +00:00 |
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Michael Kaess
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d0efe2da5e
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update almost correct, except for order
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2009-11-18 17:40:05 +00:00 |
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Frank Dellaert
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23031fbc04
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convert clique into factor graph
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2009-11-18 17:28:07 +00:00 |
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Frank Dellaert
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1edcdb6f80
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added SymbolicFactor constructor that takes a SymbolicConditional
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2009-11-18 17:27:27 +00:00 |
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Frank Dellaert
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c7e76891da
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skeleton hardcoded version
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2009-11-18 17:03:19 +00:00 |
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Frank Dellaert
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bed219c997
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no printout
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2009-11-18 16:32:45 +00:00 |
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Frank Dellaert
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21974f95e1
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test for incremental update
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2009-11-18 16:31:19 +00:00 |
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Frank Dellaert
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bef2efacb7
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fixed equals
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2009-11-18 16:30:57 +00:00 |
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Frank Dellaert
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ceed2ae17d
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symbolic tree in testIncremental
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2009-11-18 15:37:19 +00:00 |
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Michael Kaess
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f56bf8c79f
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added missing include to satisfy stricter compiler; added isam test file
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2009-11-17 21:47:42 +00:00 |
Chris Beall
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4f7d31986c
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added cameraConstraint and corresponding unit test based on same 2 camera/4 landmark example, but now there are constraints on the two cameras and none of the landmarks.
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2009-11-17 17:19:54 +00:00 |
Manohar Paluri
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e4eaae4605
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Added equals function and serialization capability
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2009-11-17 01:19:55 +00:00 |
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Manohar Paluri
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d24846d9a0
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fixed errors due to shared pointer change in VSLAMFactor
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2009-11-17 01:02:55 +00:00 |
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Manohar Paluri
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e312252006
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Changed camera matrix to a shared pointer
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2009-11-17 00:51:27 +00:00 |
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Manohar Paluri
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256c094039
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Added default constructor and Serialization
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2009-11-16 23:49:04 +00:00 |
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Alex Cunningham
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20830a1534
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Added testSQP demo to show a simple problem solved by Sequential Quadratic Programming. To see the outputs, set verbose=true at the start of the test.
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2009-11-16 19:12:56 +00:00 |
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Frank Dellaert
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27a47c6535
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Constructor now takes Point2
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2009-11-13 06:19:21 +00:00 |
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Frank Dellaert
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d5ada2a80c
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Test now succeeds after adding 3 landmark constraints
Also cleaned up a bit
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2009-11-13 06:19:08 +00:00 |
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Frank Dellaert
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d26abf3ccf
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addLandmarkConstraint
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2009-11-13 06:18:27 +00:00 |
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Frank Dellaert
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309f2151cf
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Clean-up
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2009-11-13 06:17:59 +00:00 |
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Frank Dellaert
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fe974a3e72
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Rank test needs to be re-thought
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2009-11-13 06:17:19 +00:00 |
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Frank Dellaert
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f5fc14c0f4
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Fixed bug in revealing rank, even simpler than before.
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2009-11-13 06:16:56 +00:00 |
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Frank Dellaert
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7c045a0802
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Fixed compile errors due to remaining VectorConfigs, and removed div0 warning
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2009-11-13 06:15:48 +00:00 |
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Frank Dellaert
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17aaae42d8
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Refactoring of weightedPseudoInverse, emul, sum
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2009-11-13 06:14:55 +00:00 |
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Frank Dellaert
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2178589263
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Debug printout and variable names
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2009-11-13 06:13:58 +00:00 |
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Alex Cunningham
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67c2ea8263
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NonlinearEquality factor is now working for generic configs. Currently, the feasible point must be specified in the form of a full config with the point in it, but this avoid needing to increase the requirements on the configs.
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2009-11-13 02:06:52 +00:00 |
Viorela Ila
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cba4a536bb
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includes Ordering.h
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2009-11-13 01:56:09 +00:00 |
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Chris Beall
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6252ff2497
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added testVSLAMGraph unit test. will fail until we can add a constraint to either one of the two cameras.
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2009-11-12 18:55:03 +00:00 |
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Chris Beall
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ef0fc9fbac
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added testVSLAMGraph unit test. will fail until we can add a constraint to either one of the two cameras.
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2009-11-12 18:54:46 +00:00 |
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Frank Dellaert
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03f865d4b1
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Used typedefs with similar naming convention.
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2009-11-12 18:33:14 +00:00 |
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Alex Cunningham
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5857635ca1
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Fixed renaming error with NonlinearFactors sometimes becoming NonGaussianFactors
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2009-11-12 16:47:12 +00:00 |
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Alex Cunningham
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c7b86cec97
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Renamed ConditionalGaussian -> GaussianConditional
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2009-11-12 16:41:18 +00:00 |
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Alex Cunningham
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77a1754b69
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Renamed LinearFactor -> GaussianFactor, LinearFactorGraph -> GaussianFactorGraph
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2009-11-12 16:16:32 +00:00 |
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Frank Dellaert
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1ae6bb4030
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Added push_fron convenience method to add ConditionalGaussians into a Bayes net with much less clutter. Modernized some very old tests in the process.
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2009-11-12 06:09:03 +00:00 |
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Frank Dellaert
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f677341108
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Moved inference methods to new compilation unit. Added [factor], and [marginalize] now returns a factor graph.
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2009-11-12 04:56:30 +00:00 |