Alex Cunningham
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59c7ce7e29
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Integrated householder-based QR into NoiseModel. Note that the examples for GFG have changed to ensure that they are actually a linearized version of the nonlinear example.
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2010-01-27 04:39:35 +00:00 |
Frank Dellaert
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98b825ddbd
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Fixed loading of datasets
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2010-01-27 03:41:23 +00:00 |
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Frank Dellaert
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ae073c0120
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Comments, and better test of composePoses
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2010-01-27 02:49:58 +00:00 |
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Frank Dellaert
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8b87eebba6
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commented GSl bit
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2010-01-27 01:03:49 +00:00 |
Richard Roberts
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02210cc7e0
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Argument order of load changed
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2010-01-26 20:31:25 +00:00 |
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Richard Roberts
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9b62b326c9
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One more fix, inverse was actually needed in one case.
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2010-01-26 20:10:45 +00:00 |
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Richard Roberts
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b82d054aaa
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Definitions of Lie::between, Pose2::compose, expmap, and derivatives were not correct. Fixed, but changes some behavior (iSAM and CitySLAM already fixed), will send email about this change.
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2010-01-26 20:00:17 +00:00 |
Manohar Paluri
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a0b96e7684
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corrected case of Pose2SLAMoptimizer
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2010-01-25 14:50:25 +00:00 |
Kai Ni
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1685920d52
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fixed Ab2 bug
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2010-01-23 05:29:04 +00:00 |
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Frank Dellaert
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afa964b8db
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Fixed sparse bug
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2010-01-23 05:16:29 +00:00 |
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Kai Ni
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744269343f
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add print
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2010-01-23 04:46:00 +00:00 |
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Kai Ni
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b092fee64b
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pose2slamoptimizer unit tests worked
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2010-01-23 03:49:05 +00:00 |
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Richard Roberts
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21c1af2b9f
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Collecting more statistics in isam2, logmap for configs
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2010-01-23 01:53:04 +00:00 |
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Kai Ni
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4491db99be
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add beijing data set
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2010-01-23 01:10:12 +00:00 |
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Frank Dellaert
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7644ff0080
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optimize returns Vector, does not update
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2010-01-23 01:08:42 +00:00 |
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Frank Dellaert
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ada844300d
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Fixed compile issue in tests
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2010-01-23 01:03:47 +00:00 |
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Frank Dellaert
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807cffbd61
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Pose2SLAMOptimizer prototype for use in MATLAB
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2010-01-23 00:57:54 +00:00 |
Michael Kaess
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7bc4ee65da
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allow pure linear steps (disabled)
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2010-01-23 00:21:34 +00:00 |
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Manohar Paluri
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80d335ed77
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added saveGraph function to BayesTree which writes out a dot file which can be visualized using graphviz dot command
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2010-01-22 23:52:56 +00:00 |
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Kai Ni
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e87faa078d
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write correct information matrix to data file
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2010-01-22 23:20:12 +00:00 |
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Frank Dellaert
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2150b24e29
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Fixed memory hog problem with Alex's help. SAM marginally faster (3-4% with 1000 poses, might be bigger effect for full dataset)
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2010-01-22 23:00:35 +00:00 |
justinca
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16c55975c1
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Fix inverse_square_root, add cholesky decomposition options
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2010-01-22 22:28:03 +00:00 |
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Kai Ni
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e88ae4a944
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add dataset.h/cpp
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2010-01-22 20:18:40 +00:00 |
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Michael Kaess
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ab155999cf
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simplified alg, but no measureable speed improvement
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2010-01-22 18:29:27 +00:00 |
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Frank Dellaert
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351cdd18c2
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case change: SharedGaussian and SharedDiagonal are now classes with their own header file. Needed for MATLAB TORO hail Mary
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2010-01-22 17:36:57 +00:00 |
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Kai Ni
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490791cd48
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add writer module to dump the errors and time
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2010-01-22 08:13:54 +00:00 |
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Kai Ni
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4b778a4e82
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fixed a bug in matrix solve function
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2010-01-22 06:45:01 +00:00 |
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Michael Kaess
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1d093e388d
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changed main algorithm to allow recovery of exact solution
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2010-01-22 06:28:12 +00:00 |
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Frank Dellaert
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75e29dc015
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failing test
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2010-01-22 05:45:59 +00:00 |
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Richard Roberts
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5367e5a157
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All std::map<Symbol,T> are now SymbolMap<T>, which is just a thin wrapper around std::map. at(Key) is used instead of first checking with find when an exception should be thrown for non-existent keys. This does not change any behavior or timing currently. This check-in also includes some functions in BayesTree for gathering clique statistics.
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2010-01-22 04:41:40 +00:00 |
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Frank Dellaert
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41a6e64bbb
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Fixed insert to use IndexTable, a new class
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2010-01-22 02:27:26 +00:00 |
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Frank Dellaert
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2cc777228b
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coments and variables only
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2010-01-21 20:15:52 +00:00 |
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justinca
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7575996d52
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Remove leftover commented out unused code
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2010-01-21 19:49:36 +00:00 |
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justinca
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f89a53ed91
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Bugfix in Rot3::logmap. The function checked for a trace of 3, but the check could fail due to rounding errors, causing the function to try to take acos(something larger than 1) resulting in NaNs being returned.
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2010-01-21 19:49:12 +00:00 |
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Alex Cunningham
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ac746ccead
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Improved performance of updateAb in NoiseModel with GSL/ATLAS. Various other small optimizations were made.
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2010-01-21 18:51:59 +00:00 |
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Michael Kaess
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2183e09c67
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fluid relinearization works
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2010-01-21 17:41:54 +00:00 |
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Michael Kaess
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523c8630d3
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works at least on already solved data...
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2010-01-21 16:09:57 +00:00 |
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Frank Dellaert
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0dc4f417e9
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sampling from NoiseModel
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2010-01-21 08:31:18 +00:00 |
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Michael Kaess
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8fd0c2ae72
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new fluid relinearization algorithm, in sync with lyx
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2010-01-21 07:38:37 +00:00 |
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Alex Cunningham
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9db7623f80
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Improved instructions for GSL/ATLAS
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2010-01-21 01:03:34 +00:00 |
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Alex Cunningham
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063aa14118
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Reimplemented matrix::householder_update using GSL and BLAS, you'll need to edit Makefile.am to enable the new version -- see email
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2010-01-21 00:59:33 +00:00 |
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Michael Kaess
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188561d925
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removeTop/Path now returns a BayesNet to avoid converting the conditionals to a factor graph
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2010-01-21 00:38:22 +00:00 |
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Richard Roberts
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eb03f78e7d
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Removing dependency hack speeds up compilation
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2010-01-20 20:47:15 +00:00 |
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Alex Cunningham
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588c119bf3
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Added timing script for Matrix::householder_()
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2010-01-20 18:52:31 +00:00 |
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Alex Cunningham
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5f588031bc
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Merged NoiseQR back into trunk
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2010-01-20 18:32:48 +00:00 |
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Alex Cunningham
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9c9007920a
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Changed the interface on Matrix::column() so that it uses the one in our library (now called column_() ) rather than the boost default. Currently, our implementation just uses the boost default, but this may change due to timing results.
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2010-01-20 16:08:14 +00:00 |
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Alex Cunningham
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98b143cd22
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Switched all loop indices in Matrix/Vector to size_t, with improved results in timeGaussianFactorGraph
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2010-01-20 14:42:05 +00:00 |
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Alex Cunningham
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b4f9163296
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Added more labels and results (with higher numbers of repetitions) for timeGaussianFactorGraph
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2010-01-20 14:31:24 +00:00 |
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Alex Cunningham
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8db99db57e
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Small performance improvement for matrix_augmented, with accompanying test in timeGaussianFactor
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2010-01-20 14:09:44 +00:00 |
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Alex Cunningham
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6bc0462669
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Checked Matrix::collect() with different timing metric, and memcpy has approx 25% speedup over original version. Matrix_range is slower or the same speed as the original version.
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2010-01-20 13:45:22 +00:00 |