dellaert
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8a6d8bfc82
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Back to single
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2014-11-02 14:35:32 +01:00 |
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dellaert
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90a0fa6e45
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Check if active
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2014-11-02 13:53:22 +01:00 |
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dellaert
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a8ab910c32
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Merged twio changes in: the is_constrained() flag that does away with the dynamic cast, and the changes duy made in commit a61b49d to remove the constrained noise model hack. At the same time, both linearize methods (in expressionFactor and NonlinearFactor) now make use of is_constrained().
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2014-11-02 13:45:54 +01:00 |
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dellaert
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b9e3c3b116
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Made unsafe constructor private, but made ExpressionFactor<T> a friend.
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2014-11-02 12:01:52 +01:00 |
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dellaert
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cb69f2cb82
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Fastest linearize so far. Putting 'unsafe' constructor in JacobianFactor itself makes a *huge* difference.
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2014-11-02 11:40:48 +01:00 |
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dellaert
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7aaf4dae8c
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Merge remote-tracking branch 'origin/feature/BAD_VerticalBlockMatrix' into feature/BAD_WriteableJacobianFactor
Conflicts:
gtsam_unstable/nonlinear/ExpressionFactor.h
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2014-11-01 17:45:23 +01:00 |
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dellaert
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7debde7518
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Moved to ExpressionFactor that now uses it - timing seems worse ?
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2014-11-01 15:12:06 +01:00 |
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dellaert
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12e38a44e4
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WriteableJacobianFactor will allow ExpressionFactor to write into the factor directly, (hopefull) eliminating huge overhead.
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2014-11-01 14:13:08 +01:00 |
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dellaert
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a4fa61a7a4
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Removed JacobianMap tests
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2014-11-01 11:56:38 +01:00 |
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dellaert
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f38b0b0eed
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Fixed unwhitenedError
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2014-11-01 11:50:28 +01:00 |
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dellaert
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7b539fbb5c
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Make JacobianMap a wrapper around a VerticalBlockMatrix, which avoids us having to make a vector of references into it
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2014-11-01 11:35:49 +01:00 |
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dellaert
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593edd1e5c
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Fixed asserts
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2014-10-31 16:29:15 +01:00 |
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dellaert
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d0c3bc0c8e
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Fixed tests
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2014-10-31 16:27:54 +01:00 |
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dellaert
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768a4abc05
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Does not need lambda
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2014-10-31 16:27:46 +01:00 |
Sungtae An
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a5b8d0fd35
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Modified finding method
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2014-10-31 11:06:26 -04:00 |
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Sungtae An
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6a20d35a60
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Modified pointer expression
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2014-10-31 07:28:07 -04:00 |
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Sungtae An
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133fcf20e2
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Cleaned up some commented codes
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2014-10-31 07:22:19 -04:00 |
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Sungtae An
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97d4120858
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Changed the type of JacobianMap as std::vector
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2014-10-31 07:10:53 -04:00 |
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dellaert
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e7ec6b3fa5
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Fixed size
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2014-10-23 12:04:16 +02:00 |
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dellaert
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77e7f0437d
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Merge remote-tracking branch 'origin/feature/FixQuaternion' into feature/BAD
Conflicts:
gtsam/geometry/tests/testRot3M.cpp
gtsam/geometry/tests/testRot3Q.cpp
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2014-10-23 10:03:10 +02:00 |
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dellaert
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845697555a
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Fixed tests for Quaternion mode but Pose3 not in EXPMAP mode
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2014-10-23 09:52:35 +02:00 |
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dellaert
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49ff33602d
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Undid change
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2014-10-23 01:44:04 +02:00 |
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dellaert
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0501750c7c
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Fixed accuracy and size issues in Quaternion mode
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2014-10-22 22:54:25 +02:00 |
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dellaert
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48a6777935
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Some refactoring
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2014-10-22 16:26:40 +02:00 |
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dellaert
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a29f09423c
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Merge branch 'develop' into feature/BAD
Conflicts:
gtsam/linear/tests/testGaussianBayesNet.cpp
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2014-10-22 13:56:27 +02:00 |
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dellaert
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0f53c8d5ec
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Timing of Ceres AutoDiff adaptor
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2014-10-22 12:49:18 +02:00 |
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dellaert
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f44e6f0187
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Moved AdaptAutoDiff template in its own header file
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2014-10-22 11:41:04 +02:00 |
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dellaert
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516bb4b0b1
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Isolated Snavely example
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2014-10-22 11:23:35 +02:00 |
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dellaert
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439f51ec7f
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test out invoke
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2014-10-22 10:10:58 +02:00 |
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dellaert
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113b9d2e74
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Got rid of unnecessary LieVector usage that broke fixed-code
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2014-10-22 01:32:59 +02:00 |
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dellaert
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1eb5e185e5
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New numericalDerivatives with traits an Charts - still some segfaults, *and* there should be no need for (a) multiple prototypes to match against c++ pointers, (b) the use of explicit template arguments. A task for someone...
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2014-10-21 18:50:52 +02:00 |
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dellaert
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fcbc1e90cf
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More traits
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2014-10-21 18:03:28 +02:00 |
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dellaert
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224b71d696
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Created testManifold
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2014-10-21 12:54:28 +02:00 |
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dellaert
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0acffe5ae9
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Fixed bug in DefaultChart: keeping a reference s never a good idea.
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2014-10-21 11:13:14 +02:00 |
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dellaert
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25ad9ade05
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Moved AdaptAutoDiff into its own test
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2014-10-21 10:42:30 +02:00 |
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dellaert
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bf16446f92
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Deal with traits changes
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2014-10-21 01:26:17 +02:00 |
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dellaert
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e0841fb3e6
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No more Ceres dependecy, copied relevant Ceres files here (for now)
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2014-10-20 23:53:56 +02:00 |
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dellaert
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bce84ca4db
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Successfully created Expression from AutoDiff function!
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2014-10-20 15:38:27 +02:00 |
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dellaert
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bf5580d518
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AdaptAutoDiff now works with RowMajor Eigen matrices
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2014-10-20 14:39:28 +02:00 |
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dellaert
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df5e584412
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Compiles, but Jacobains not correct yet
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2014-10-20 14:32:20 +02:00 |
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dellaert
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a423f284e9
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Canonical coordinates prototype, works for Snavely
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2014-10-20 14:23:08 +02:00 |
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dellaert
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821f776118
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Wrapper works to some extent
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2014-10-20 09:43:32 +02:00 |
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dellaert
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7ebc8e969f
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Charts with default constructors
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2014-10-20 09:29:45 +02:00 |
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dellaert
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63ae33088e
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Some success on the way to autodiff
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2014-10-19 23:47:59 +02:00 |
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dellaert
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8ee16c9018
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Comments for Paul
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2014-10-19 11:19:09 +02:00 |
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dellaert
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eac76cd0f0
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Some progress on defining interface
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2014-10-19 11:18:36 +02:00 |
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dellaert
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6e142184cc
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Implemented is_manifold and dimension for all types in testExpressionFactor
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2014-10-19 00:35:25 +02:00 |
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dellaert
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c32d2bb3b2
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Fixed comments
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2014-10-18 23:48:51 +02:00 |
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dellaert
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d436d99146
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Moved stuff to Manifold.h
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2014-10-18 23:25:25 +02:00 |
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dellaert
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fcda501ee2
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double as manifold. No more LieScalar !
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2014-10-18 18:13:33 +02:00 |