Richard Roberts
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af3c12a7df
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Implemented N-way factor base class in NoiseModelFactor, added NonlinearFactor{3-6}, adapted NonlinearFactor1,2,3 and NonlinearConstraint1,2,3 to derive from NoiseModelFactor in a minimal way
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2011-10-03 04:24:24 +00:00 |
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Richard Roberts
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63ca74e492
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Fixed bug in multifrontal marginals caused by backwards permutations with LDL (seems to be an inconsistency in Eigen?). Added GaussianConditional constructor from any number of frontal and parent variables. Added several new unit tests on marginals. Fixed small bug in GaussianConditional non-const get_d_ and get_R_ functions that didn't account for multiple frontal variables.
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2011-09-23 02:50:46 +00:00 |
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Richard Roberts
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222d5073b9
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Relocated unit test
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2011-09-23 02:48:34 +00:00 |
Alex Cunningham
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4569bb41a3
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Fixed serialization of stereo cameras
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2011-09-12 15:30:31 +00:00 |
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Richard Roberts
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936ee6d9fd
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ISAM2 refactoring and documentation
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2011-09-07 15:42:49 +00:00 |
Frank Dellaert
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b614f6bf42
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header order
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2011-09-03 04:47:43 +00:00 |
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Frank Dellaert
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04e41f8c38
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Split off NoiseModelFactor (a NonlinearFactor with a NoiseModel) from NonlinearFactor (a Factor with dim, linearize, and symbolic methods). NonlinearConstraint derives from NoiseModelFactor.
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2011-09-03 03:46:19 +00:00 |
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Frank Dellaert
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0c34b57b92
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removed spurious typename
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2011-09-02 13:53:36 +00:00 |
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Richard Roberts
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06fd0335cc
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ISAM2 parameters struct instead of function arguments and hard-coded values, also documentation improvement and refactored IndicesFromFactors
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2011-09-01 21:53:57 +00:00 |
Stephen Williams
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b1c1b45aba
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Renamed Key and Values to have a common name between linear and nonlinear examples
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2011-08-30 19:54:50 +00:00 |
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Richard Roberts
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059de23b6e
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Moved ISAM2 from inference to nonlinear
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2011-08-30 17:15:50 +00:00 |
Duy-Nguyen Ta
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f45b1556ca
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typedef typename ... doesn't compile for me. Removing typename makes it work.
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2011-08-29 19:22:11 +00:00 |
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Stephen Williams
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27d062a0f0
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Fixed compile errors due to new SharedGaussian definition
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2011-08-27 13:50:35 +00:00 |
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Stephen Williams
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82fdb0a5f8
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Added ExtendedKalmanFilter class and easyPoint2KalmanFilter example
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2011-08-27 12:28:47 +00:00 |
Yong-Dian Jian
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fd07d61a2e
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Add a robust noise model. Change SharedGaussian to SharedNoiseModel
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2011-08-26 21:41:01 +00:00 |
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Richard Roberts
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d329d06b77
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(in branch) moved ISAM2 into main gtsam library
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2011-08-18 18:06:35 +00:00 |
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Frank Dellaert
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964af8b21c
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Commented use of GTSAM_MAGIC_KEY
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2011-08-18 13:18:26 +00:00 |
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Alex Cunningham
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778001f63e
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assorted cleanup - mostly comments and adding implementations to cpp files, rather than in header files
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2011-06-13 20:01:58 +00:00 |
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Alex Cunningham
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322f61c537
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added flags for dataset timing tests to change the number of trials
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2011-06-13 17:14:24 +00:00 |
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Alex Cunningham
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fa4faa274a
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Merge branch 'prep_0.9.3'
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2011-06-13 16:55:31 +00:00 |
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Alex Cunningham
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36f9ebae90
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Removed files full of broken code, removed simulated2D matlab files, condensed slam unit tests, added the only known test for SPCG in gtsam
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2011-06-04 20:42:29 +00:00 |
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Alex Cunningham
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c4d9208eeb
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Added serialization for most linear/inference structures, simulated2D - serialization, except for example domains, should be complete
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2011-06-04 16:52:54 +00:00 |
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Richard Roberts
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265b057580
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Removed key sorting from NonlinearFactor
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2011-06-04 14:54:27 +00:00 |
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Alex Cunningham
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c44315fec8
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Added more serialization - geometry is done, jacobian and hessian factors done, visual system done. Split projection factor out from visual SLAM into separate header
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2011-06-03 21:32:27 +00:00 |
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Alex Cunningham
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9160775d2a
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Added nonlinear constraints to gtsam library
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2011-06-03 15:07:11 +00:00 |
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Alex Cunningham
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e9b8a48c43
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ccolamd now installs and works with gtsam - all tests pass
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2011-06-02 14:35:26 +00:00 |
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Alex Cunningham
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040493474f
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added more serialization
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2011-05-20 18:43:42 +00:00 |
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Alex Cunningham
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e20561be73
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Merge branch 'eigen'
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2011-05-20 13:52:08 +00:00 |
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Alex Cunningham
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d35eb581ee
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Removed experimental cmake files - see the branch cmake_build
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2011-05-19 19:16:03 +00:00 |
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Yong-Dian Jian
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85ff7853eb
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experimental cmake support for linux
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2011-05-09 16:53:08 +00:00 |
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Richard Roberts
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5057138ef1
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Returning GaussianFactor instead of JacobianFactor from NonlinearFactor::linearize and NonlinearFactorGraph::linearize, so that HessianFactors may be returned as well.
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2011-04-12 21:18:10 +00:00 |
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Richard Roberts
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f5eac05add
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Merged factorization branch - sequential and multifrontal factorization with a function argument to specify the elimination method
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2011-03-29 21:32:22 +00:00 |
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Richard Roberts
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07820af903
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Fixed crashes when doing linearize/solve on nonlinear factor graphs with NULL factors
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2011-03-29 19:51:50 +00:00 |
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Frank Dellaert
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5c193422af
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Major change, elimination functions are now passed an "Eliminate function", so you can select at run-time which factorization method is used (symbolic, QR, etc...).
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2011-03-24 19:27:12 +00:00 |
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Alex Cunningham
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726bed11b8
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Removed exports for SharedGaussian and SharedDiagonal and moved them to testSerialization
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2011-03-08 19:19:21 +00:00 |
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Alex Cunningham
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fc3b668171
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Removed boost.serialization export keys from noisemodel because they don't work outside of one test
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2011-03-08 18:13:49 +00:00 |
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Alex Cunningham
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1c1e47ca1f
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Added serialization export keys directly to NoiseModel
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2011-03-04 14:56:18 +00:00 |
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Alex Cunningham
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a87a52035d
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Serialization for (some) nonlinear factors now works, added virtual destructors to factor classes that needed them.
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2011-03-03 17:16:13 +00:00 |
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Alex Cunningham
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cee6b4523e
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Improved serialization for noisemodel and NonlinearFactors, however currently fails on NonlinearFactorGraphs and some factors
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2011-02-23 20:31:19 +00:00 |
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Alex Cunningham
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4865f1a64d
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Added more serialization functionality to noiseModel, but SharedGaussians segfault on test, so tests for Nonlinear graphs are commented out
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2011-02-23 05:19:07 +00:00 |
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Richard Roberts
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1c27b1021f
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Removed incorrect dynamic_pointer_cast that caused a compile error for non-virtual derived factors.
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2011-02-18 22:10:21 +00:00 |
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Alex Cunningham
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d8f05f78ff
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Added marginal function to GaussianISAM, renamed and added comments to bayes tree
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2011-02-11 22:08:07 +00:00 |
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Alex Cunningham
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7407843214
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Reworked nonlinear optimizer so that it only uses a solver member variable if you are using spcg. SPCG may be broken at this point, and its member variable will be removed soon.
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2011-02-10 16:01:29 +00:00 |
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Alex Cunningham
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06b08c6f85
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Fixed bug with shared solvers in recursive LM nonlinear optimizer
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2011-02-10 16:01:28 +00:00 |
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Alex Cunningham
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719e851643
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Added a functional version of LM optimization for comparison
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2011-02-06 04:13:32 +00:00 |
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Alex Cunningham
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251d83b41a
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Disabled unit test for serialization of Values, as FastMap does not have serialization
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2011-02-04 05:45:42 +00:00 |
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Alex Cunningham
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37ee4f6cb3
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Added a test for Ordering, added pop_back() to ordering, made changing the ordering in NonlinearISAM possible
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2011-02-02 03:50:06 +00:00 |
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Alex Cunningham
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e4cda1b360
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Added accessor for NonlinearISAM, comments and whitespace
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2011-01-29 00:53:15 +00:00 |
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Richard Roberts
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4880257e69
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Merging hessianfactor branch, Cholesky is now default and GaussianFactor is virtual (see email to frankcvs)
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2011-01-20 22:22:00 +00:00 |
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Alex Cunningham
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4367a245bd
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Added unit test for NonlinearISAM with a simple markov chain demo
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2011-01-20 15:42:11 +00:00 |