Frank Dellaert
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852bb149ce
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documentation
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2012-01-22 06:28:11 +00:00 |
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Frank Dellaert
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6df52db2c9
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Kalman filter now functional, manipulates a functional state.
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2012-01-22 06:27:54 +00:00 |
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Frank Dellaert
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b1e6f3c526
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new linear class: Gaussian Density
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2012-01-22 06:27:14 +00:00 |
Richard Roberts
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4137cfe9d7
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Added missing copy constructor for GaussianConditional, and assignment operators for GaussianConditional, JacobianFactor, and HessianFactor that properly copy the block matrices (require calling a special function because they contain references)
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2012-01-22 05:16:12 +00:00 |
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Richard Roberts
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93f3411210
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Made dogleg also use QR when useQR is true
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2012-01-22 03:18:10 +00:00 |
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Frank Dellaert
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845e1bbf4f
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Added test that causes a crash - don't know how to solve it.
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2012-01-22 00:10:56 +00:00 |
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Frank Dellaert
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d0d7d1971b
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assert instead of segmentation fault
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2012-01-22 00:10:04 +00:00 |
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Frank Dellaert
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b0dea340d2
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Some formulas in the documentation
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2012-01-22 00:09:38 +00:00 |
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Frank Dellaert
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ddbce44800
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update unit test
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2012-01-21 04:34:48 +00:00 |
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Frank Dellaert
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852a1c0a0f
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Fixed bug in Kalman filter when using LDL.
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2012-01-20 22:28:53 +00:00 |
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Frank Dellaert
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1dc669d463
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more debug code (turns out wrap works quite well)
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2012-01-20 22:28:29 +00:00 |
Andrew Melim
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bcb1a578d8
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Adding print function for CalibratedCamera
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2012-01-20 22:18:23 +00:00 |
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Frank Dellaert
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9bad4f67eb
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[with Alex and Richard] Fixed major bug when constraints are present, but it was never encountered because of the global useQR flag. Re-arranged some other things.
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2012-01-20 20:47:30 +00:00 |
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Frank Dellaert
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62afde62f3
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Better comments
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2012-01-20 20:46:25 +00:00 |
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Frank Dellaert
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c01e3d456a
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[with Alex and Richard] Fixed incorrect global switch to QR when any constraints are present: this is done in the GaussianFactorGraph::eliminatePreferXXX functions.
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2012-01-20 20:45:30 +00:00 |
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Frank Dellaert
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24292d6c13
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Kalman filter now can work in QR or LDL mode
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2012-01-20 18:01:56 +00:00 |
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Richard Roberts
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099f170bf2
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Better error message when trying to convert a negative HessianFactor to a JacobianFactor
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2012-01-20 17:20:56 +00:00 |
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Richard Roberts
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5dd5f612ce
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Fixed creation of empty HessianFactor and added unit test
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2012-01-20 16:53:35 +00:00 |
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Richard Roberts
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f76c7be5b2
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(in branch) more implementation for DynamicValues
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2012-01-20 16:26:45 +00:00 |
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Frank Dellaert
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9157d891d3
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wrapped new KF style
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2012-01-20 05:44:51 +00:00 |
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Frank Dellaert
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7687b91a32
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leaner and meaner
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2012-01-20 05:24:02 +00:00 |
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Frank Dellaert
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4aa4b8b938
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Kalman Filter now functional (i.e., not imperative)
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2012-01-20 05:07:06 +00:00 |
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Frank Dellaert
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b60de0f03e
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[with Vadim] wrapped HessianFactor and added a bunch of "add" methods to GaussianFactorGraph. Unfortunately, because overloading is not supported, only the last add works (by design, because we needed it, the HessianFactor add).
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2012-01-20 04:35:12 +00:00 |
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Frank Dellaert
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fa200f511a
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Added methods to add JacobianFactor and HessianFactor, the templated push_back gives trouble...
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2012-01-20 04:33:30 +00:00 |
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Frank Dellaert
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3c1e5c0f04
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new unit test to assess crash of print on empty factor
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2012-01-19 22:26:24 +00:00 |
Alex Cunningham
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235c4c9e40
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Removed overloaded Rot3 function RzRyRx(x, y, z) as wrap doesn't support overloaded functions - the vector version remains
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2012-01-19 16:29:55 +00:00 |
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Richard Roberts
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ffd01c7a7d
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Removed unneeded TODO's
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2012-01-18 21:22:05 +00:00 |
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Richard Roberts
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4b95a2799b
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Bug fix in converting HessianFactor to JacobianFactor - had to zero out lower triangle of eliminated matrix. Additional unit tests to catch this.
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2012-01-18 20:44:27 +00:00 |
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Richard Roberts
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8bf0b3c04c
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Small fix in printing debug info
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2012-01-18 20:42:53 +00:00 |
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Richard Roberts
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b031996bbc
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Fixed denseHessian bug - was only returning upper triangle, now returns full matrix
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2012-01-18 15:42:00 +00:00 |
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Alex Cunningham
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269ac46bd9
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Fixed install problems with wrap so headers now go in include/wrap
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2012-01-18 15:12:58 +00:00 |
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Richard Roberts
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64703d09da
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(in branch) more implementation for DynamicValues and unit tests
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2012-01-18 14:37:41 +00:00 |
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Frank Dellaert
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fb3a959193
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Made sure worked with non-diagonal noise model
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2012-01-18 05:08:52 +00:00 |
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Frank Dellaert
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4225f37846
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Thoroughly tested predictQ by comparing with predict2. Uncovered a bug in QR if HessianFactor is involved.
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2012-01-18 05:06:39 +00:00 |
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Frank Dellaert
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c75bb0707a
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Some explanation how to set G,g,f in binary factor case.
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2012-01-18 05:05:45 +00:00 |
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Frank Dellaert
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035923449b
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new predict variant predictQ
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2012-01-18 04:44:16 +00:00 |
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Frank Dellaert
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a209741e60
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Additional Kalman filter constructor takes covariance
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2012-01-17 20:04:37 +00:00 |
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Frank Dellaert
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56c3953305
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added print
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2012-01-17 19:25:05 +00:00 |
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Frank Dellaert
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027ea6ec34
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comments/formatting
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2012-01-17 19:24:45 +00:00 |
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Richard Roberts
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9cdb1e08fe
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(in branch) more implementation for DynamicValues
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2012-01-16 22:54:19 +00:00 |
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Frank Dellaert
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c58aa67a25
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Added matrix dimension check in constructor (because MATLAB crashed)
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2012-01-16 16:10:15 +00:00 |
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Alex Cunningham
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7bd41e92d4
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Updated configure flags for gtsam
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2012-01-16 15:26:20 +00:00 |
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Alex Cunningham
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1e693595fd
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Additional typedef
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2012-01-16 15:19:05 +00:00 |
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Richard Roberts
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d323d5b963
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(in branch) more implementation for DynamicValues
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2012-01-15 23:06:01 +00:00 |
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Alex Cunningham
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3942f28a68
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Wrap now only writes new files when there is a change, and install only updates files if necessary
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2012-01-15 21:42:44 +00:00 |
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Alex Cunningham
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66a9d635b3
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Unified file writing to use a custom class to allow for smart checking
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2012-01-15 21:42:41 +00:00 |
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Alex Cunningham
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ea1ef1fa85
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removed doc make target
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2012-01-15 21:42:39 +00:00 |
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Richard Roberts
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7a79edca4b
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Fixed bug in BayesTree/iSAM2 clone
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2012-01-15 20:31:21 +00:00 |
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Alex Cunningham
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500d509f81
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Added another expected value for toolbox codegen
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2012-01-15 19:09:36 +00:00 |
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Alex Cunningham
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94cbee4208
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Updated expected toolbox code to match updated states
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2012-01-15 19:09:34 +00:00 |