Duy-Nguyen Ta
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ce62f3b9dd
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Merged in feature/qp_singlevalued_inequalities (pull request #70)
Single-valued linear inequalities
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2014-12-12 12:51:45 -05:00 |
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thduynguyen
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593795f65b
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use Eigen's predefined RowVector typedef
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2014-12-12 12:51:19 -05:00 |
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thduynguyen
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ac6f10ea74
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enforce RowVector as Jacobian for single-valued linear inequalities
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2014-12-12 12:43:07 -05:00 |
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thduynguyen
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a26ef7b7a2
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refactor QPSolver to work with single-valued linear inequality factors. Unit tests passed.
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2014-12-12 12:03:00 -05:00 |
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thduynguyen
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6d68f5ffff
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equality constraints are always active
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2014-12-12 12:02:06 -05:00 |
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thduynguyen
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4f28eace7e
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LinearInequality now only supports single-valued function. Add active/activate/inactivate function to use in the qp active set method.
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2014-12-12 12:01:16 -05:00 |
lvzhaoyang
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bcfcf8be8e
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fix gtsam wrapper for priorFactorVector
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2014-12-12 11:34:34 -05:00 |
Paul Furgale
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02ceb1366b
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Progress on compilation
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2014-12-12 17:02:15 +01:00 |
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Paul Furgale
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91efa7f2a1
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Added convenience traits wrapper for internal gtsam types
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2014-12-12 16:42:33 +01:00 |
Mike Bosse
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d94c8c72b8
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cyclic trait refactored
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2014-12-12 14:51:16 +01:00 |
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Mike Bosse
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edb1bbaa7b
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quaternion trait refactored
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2014-12-12 14:18:39 +01:00 |
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Mike Bosse
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cc9ab9c6ed
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starting transition to kitchen sink trait class
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2014-12-12 11:43:54 +01:00 |
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Mike Bosse
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6f992e623e
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untabify
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2014-12-12 10:06:43 +01:00 |
Luca
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c4bd02c3fa
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split of measurement covariance into diagonal blocks.
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2014-12-11 19:54:42 -05:00 |
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Luca
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d9a7f516ef
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making test more complicated
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2014-12-11 19:34:20 -05:00 |
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Duy-Nguyen Ta
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ba9e73785a
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Merged in feature/qp_refactor (pull request #53)
Some refactoring
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2014-12-11 16:04:35 -05:00 |
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Luca
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dcc028518f
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added unit test and removed approximation in covariance propagation
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2014-12-11 15:46:33 -05:00 |
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Luca
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3c840e1bf3
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fixed matlab wrapper
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2014-12-11 12:23:18 -05:00 |
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Luca
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295fd7385a
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minor renaming
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2014-12-11 12:20:54 -05:00 |
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Luca
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af04b834b9
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using fixed-size matrix/vector when possible
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2014-12-11 11:28:43 -05:00 |
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Luca
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c4fafd9268
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added unit test, improved computation
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2014-12-11 11:06:47 -05:00 |
Sungtae An
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c1f048dc42
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Merged in featrue/fixPCG (pull request #67)
Fixed PCG solver
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2014-12-11 10:36:47 -05:00 |
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Paul Furgale
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409214e165
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Updated documentation
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2014-12-11 16:28:32 +01:00 |
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Paul Furgale
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79086327a6
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Making things in sync
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2014-12-11 12:54:48 +01:00 |
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Paul Furgale
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24e1334e5a
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Trying to update the concepts definition to reflect reality
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2014-12-11 12:41:16 +01:00 |
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Mike Bosse
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376dec5103
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cleaned up a bit; but not really working yet. Trouble with partial specialization of lie_group::expmap<Quaternion<> >()
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2014-12-11 03:15:45 +01:00 |
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Luca
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9dbca87c86
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fixed evaluate error to compy with additive Gaussian noise model. Still to be optimized, but unit tests pass :-)
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2014-12-10 20:51:26 -05:00 |
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Luca
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1dfd9d2ae7
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cleaned up unit test
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2014-12-10 16:56:31 -05:00 |
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Luca
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36358308fd
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minor code optimization in ExpmapDerivative
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2014-12-10 16:56:21 -05:00 |
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Luca
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b3f0f3877c
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capitalized ExpmapDerivative and LogmapDerivative
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2014-12-10 16:16:29 -05:00 |
dellaert
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22218eafc4
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We will not wrap fixed Vectors and Matrices individually. Methods that take those can just as well be wrapped with Vector or Matrix. Note const and & are ignored for those. I added a small method, insertFixed, that allows one to put in small fixed size matrices for optimization. Did not do retrieval yet.
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2014-12-10 10:45:22 +01:00 |
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Sungtae An
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e9b0f7b98f
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Change Cholesky decomposed matrix from 'Upper' to 'Lower' in order to avoid confusion.
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2014-12-10 02:55:40 -05:00 |
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thduynguyen
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ba903536c8
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fix ACTIVE/INACTIVE constants as Frank suggested
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2014-12-09 22:29:21 -05:00 |
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thduynguyen
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565eb99948
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remove a TODO as it's done.
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2014-12-09 22:28:39 -05:00 |
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Luca
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57d83be48a
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matrix definition on same line
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2014-12-09 19:05:14 -05:00 |
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Luca
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b96a463b10
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ok, fixed updatePreintegratedMeasurements with optionalJacobian
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2014-12-09 18:32:38 -05:00 |
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Luca
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d809a952df
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started to include optionalJacobian: compiles after merge to develop and all unit tests pass
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2014-12-09 18:03:54 -05:00 |
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Luca
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bf8de1341b
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Merge branch 'develop'
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2014-12-09 17:13:30 -05:00 |
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Luca
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e82b815a48
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renamed right jacobian of expmap and logmap (removed "right", according to Frank's suggestion :-)
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2014-12-09 17:10:04 -05:00 |
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Luca
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1e8402231c
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applied (to some extend) the naming convention proposed by Frank
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2014-12-09 16:59:30 -05:00 |
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Luca
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b593a6a2d5
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removing redundant lines and using jacobian computation from base class
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2014-12-09 16:41:29 -05:00 |
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Luca
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5f17e1fb98
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fixed noise propagation. Luca&Christian: insight is that preintegration noise acts on rotations as R * expmap(noise), while before it was expmap( logmap(R) + noise)
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2014-12-09 16:34:43 -05:00 |
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thduynguyen
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85397223ef
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fix QPSolver unit tests
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2014-12-09 16:27:11 -05:00 |
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thduynguyen
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9b418c98ca
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fix LPSolver unittest
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2014-12-09 16:26:19 -05:00 |
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Luca
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013c8a4cef
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added extra test on covariance propagation
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2014-12-09 16:05:39 -05:00 |
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Luca
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d22868d524
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removed multiple definitions of trivial matrices (eye,zero)
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2014-12-09 15:55:24 -05:00 |
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Luca
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2c1d72e7d7
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tested Jacobians computation (G) for combined IMU factor
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2014-12-09 15:50:41 -05:00 |
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Luca
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53b59bf488
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added truth revealing unit test for Combined Imu factor (and fixed latest changes, that, moving updatePreintegratedMeasurements before, were creating a bug)
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2014-12-09 15:17:26 -05:00 |
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Frank Dellaert
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2d231edd1b
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Merged in fix/windowsExpressions (pull request #69)
Windows Fixes
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2014-12-09 19:06:02 +01:00 |
Andrew Melim
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1e778cf77b
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No longer need to cast function pointers for expressions on Windows, with Optional Jacobian
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2014-12-09 11:53:35 -05:00 |