Andrew Melim
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92f1f33818
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Preprocessor warning does not work on windows. Use pragma message instead
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2014-12-08 20:24:00 -05:00 |
Luca
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b126d98609
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included suggestions from Frank
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2014-12-08 20:20:03 -05:00 |
dellaert
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21b97ddedf
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Removed obsolete methods (but link error!)
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2014-12-09 01:04:21 +01:00 |
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dellaert
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449ba1f37a
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LieGroupChart makes use of Exponential map (and its inverse) around identity
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2014-12-09 00:52:53 +01:00 |
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Luca
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dc13912ce2
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moved jacobian computation to updateMeasurement functions, and 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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2014-12-08 18:41:39 -05:00 |
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Luca
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02f92e4e04
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included Jacobian of logmap in quaternion mode
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2014-12-08 18:39:47 -05:00 |
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dellaert
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3077d03568
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Header should also be included in non-quaternion mode
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2014-12-09 00:11:28 +01:00 |
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dellaert
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8fcf9d9866
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SO(3) is a *Matrix* Lie group. This is it. Rot3 will inherit from this *or* Quaternion.
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2014-12-09 00:11:28 +01:00 |
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dellaert
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118d561e96
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Created GTSAM_GROUP_IDENTITY as it handles templates differently
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2014-12-09 00:11:28 +01:00 |
Sungtae An
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c5b4d731cc
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Correct Yond-Dian's name
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2014-12-08 18:03:40 -05:00 |
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Luca
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54ee973309
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changed naming in comments about expmap & logmap jacobians
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2014-12-08 16:27:57 -05:00 |
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Luca
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f991c1a398
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getting rid of rightJacobianSO3 (not completed yet)
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2014-12-08 13:15:51 -05:00 |
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Luca
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422db08c69
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included Jacobian for logmap and expmap, with unit tests (Note: only implemented for Rot3M, this will not work in quaternion mode)
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2014-12-08 12:31:02 -05:00 |
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Luca
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d5d7594888
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deleted hard-coded function from IMU unit test
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2014-12-08 12:31:02 -05:00 |
Chris Beall
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fbcb9a4d67
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Fix intermittent optimization crash in Debug+TBB modes, exposed by testGeneralSFMFactor, etc.
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2014-12-08 10:59:49 -05:00 |
lvzhaoyang
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6d97b8d3db
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Small fix of IMUKittiExampleAdvanced. Now the same priorFactor issue
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2014-12-08 10:41:52 -05:00 |
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Frank Dellaert
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473bc1b703
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Derivatives of Charts, and special Lie group treatment
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2014-12-08 13:08:39 +00:00 |
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dellaert
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9dc3d28bf2
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Now Rot3 uses QuaternionChart Expmap/Logmap in quaternion mode
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2014-12-08 13:16:30 +01:00 |
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dellaert
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8cbab779b3
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Slight refactor
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2014-12-08 13:16:30 +01:00 |
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dellaert
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ccd843040e
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Small change in file that might disappear anyway
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2014-12-08 13:16:30 +01:00 |
Paul Furgale
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2af04a8e41
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Typo...
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2014-12-08 10:26:04 +00:00 |
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Frank Dellaert
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fd9f5ae1ec
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Clarified derivatives of group actions
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2014-12-08 09:42:56 +00:00 |
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Paul Furgale
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2b1d907a74
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More indentation fixes.
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2014-12-08 08:55:14 +00:00 |
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Paul Furgale
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21596e1894
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Making the indentation work in Markdown view.
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2014-12-08 08:51:27 +00:00 |
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Sungtae An
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0a1e844ae5
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Clean up
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2014-12-08 00:44:36 -05:00 |
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Sungtae An
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f6dd14126d
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Revert commits related with fixing PCG (reverted from commit 1f827fae43)
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2014-12-07 18:26:09 -05:00 |
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Luca
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2730dab4c6
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made test more serious and easy to understand
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2014-12-07 15:04:10 -05:00 |
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dellaert
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fd59783fae
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Forgot to check in how to use macros...
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2014-12-07 21:03:54 +01:00 |
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Luca
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ab54ca1697
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addressed some of Frank's comments
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2014-12-07 15:03:48 -05:00 |
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Luca
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aee20d669d
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removed useless comments, added other comments
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2014-12-07 13:58:13 -05:00 |
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cbeall3
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cd35db218b
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Minor cleanup
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2014-12-07 13:58:06 -05:00 |
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cbeall3
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b58064ce43
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Stereo calibration can now be optimized
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2014-12-07 13:58:06 -05:00 |
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dellaert
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949a6b7f4c
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Found solution for template arguments in macros. Requires a bit more from caller, but is better. I quite like the MACROS: It's compact...
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2014-12-07 19:55:06 +01:00 |
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cbeall3
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971a53cfb5
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Fixed size vectors for all Logmap, localcoordinates and vector methods
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2014-12-07 13:51:17 -05:00 |
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dellaert
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04d3457b45
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First working Manifold macro
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2014-12-07 19:30:46 +01:00 |
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Luca
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6d571ca6b9
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truth revealing unit test :-) re-established good functioning of IMU factor (TODO: fix CombinedImuFactor F & G)
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2014-12-07 13:14:45 -05:00 |
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dellaert
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62ae58e7ea
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Quaternion header
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2014-12-07 19:13:02 +01:00 |
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dellaert
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10ae9f5505
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Easier to read with Cyclic<3>
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2014-12-07 18:55:49 +01:00 |
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dellaert
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481be10509
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A bit more compact
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2014-12-07 18:55:33 +01:00 |
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dellaert
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9194b92cf6
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Now work with MACROS instead - but get linking error. Upside (if we can fix that): uniform treatment between foreign types (see Quaternion) and GTSAM types (Cyclic). Downside: seems I had to create a different macro for different number of template arguments. Help?
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2014-12-07 18:41:18 +01:00 |
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cbeall3
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bfd40014a2
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comma initialization
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2014-12-07 12:38:36 -05:00 |
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dellaert
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38a0842090
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Macros. Too ugly?
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2014-12-07 18:01:30 +01:00 |
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dellaert
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19c38b91ee
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Finish CRTP in Cyclic
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2014-12-07 15:59:31 +01:00 |
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dellaert
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ef58a8a56a
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Attempt at satisfying Group concept by deriving from base class. Needs to be fixed, also, test does not link :-(
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2014-12-07 13:24:59 +01:00 |
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dellaert
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022e930085
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Fixed typo
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2014-12-07 13:23:59 +01:00 |
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dellaert
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e0e2a9b063
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Eigen::Quaternions now satisfy IsManifold, IsGroup, and IsLieGroup! Also reverted back to a simpler treatment of Charts.
Merge branch 'traits/quaternion' into feature/tighteningTraits
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2014-12-07 13:06:32 +01:00 |
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dellaert
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cdc0029158
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Reverted on Chart base class. But no chart-specific traits needed, as assumed created by us.
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2014-12-07 13:01:25 +01:00 |
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dellaert
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a31e596448
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Working local/Logmap (taken from Rot3Q)
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2014-12-07 12:47:26 +01:00 |
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dellaert
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36da8702f9
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Retract works
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2014-12-07 12:35:17 +01:00 |
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dellaert
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8db8cb54b0
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Some chart refinement (early check does not work)
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2014-12-07 12:35:05 +01:00 |