Alex Cunningham
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23a30f8475
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Removed remaining global lie functions on lie objects and configs, switched the Lie base class to a simple concept check function, fixed build script for examples. ISAM2 and MastSLAM verified as compiling.
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2010-08-26 19:55:40 +00:00 |
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Alex Cunningham
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9dd1d6bc10
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Added examples folder with simple rotation over one varialble - build script not finalized
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2010-08-26 18:46:48 +00:00 |
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Alex Cunningham
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eed13e48d2
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Switched to using LieVectors for vector types. Still some problems with numericalDerivative that have been worked around, but other functionality is intact.
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2010-08-24 17:26:56 +00:00 |
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Alex Cunningham
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77eda5ab8c
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In all nonlinear factors and configs, it is only necessary to specify a key with a typedef Value_t for the associated value. This has been removed from factor template definitions, as it is too easy to use the wrong value. Also, no more string keys or linear symbol keys in nonlinear systems. Updated MastSLAM to work, and ISAM2 works without change
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2010-08-23 19:44:17 +00:00 |
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Alex Cunningham
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86f812ebb5
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svn:ignore for binary
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2010-08-23 03:48:55 +00:00 |
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Alex Cunningham
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5350f368cd
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Removing binary
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2010-08-23 03:44:25 +00:00 |
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Alex Cunningham
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e0da1971fa
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fixed ROS packages due to gtsam changes
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2010-08-23 00:19:57 +00:00 |
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Alex Cunningham
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458cc52fff
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Switched geometry to use primarily member functions for calculations with optional derivatives, so there are no more optional derivative functions. Also split Vector specializations for Lie into gtsam/base/LieVector.h which will later change into a real wrapper function. Specialized numericalDerivative to allow for functions to return doubles. Projects ISAM2, MastSLAM updated.
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2010-08-22 21:45:53 +00:00 |
Duy-Nguyen Ta
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9604cd4507
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fix missing boost header in Key.h needed for BOOST_SERIALIZATION_NVP
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2010-08-22 05:54:06 +00:00 |
Richard Roberts
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c2d46ce8b3
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Script to time the overhead of breaking up a problem into many factors (mimics a linear latent-variable model)
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2010-08-21 17:54:59 +00:00 |
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Alex Cunningham
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256697d345
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Moved transform_[to|from] and [un]rotate to be static functions in classes
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2010-08-20 21:47:30 +00:00 |
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Alex Cunningham
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8c33168fb3
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Made all core geometry functions that have derivatives use the combined derivative form instead of separate derivative functions.
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2010-08-20 15:17:13 +00:00 |
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Alex Cunningham
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9367170fe5
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Fixed references to dimension static member variables in constraints
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2010-08-19 21:29:43 +00:00 |
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Alex Cunningham
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e5b3e127a8
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Re-enabled tests for wrap
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2010-08-19 21:24:22 +00:00 |
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Richard Roberts
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84f38206d3
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Added myconfigure.overo for cross-compiling for gumstix
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2010-08-19 20:16:07 +00:00 |
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Alex Cunningham
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8e364cb34e
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Improvements to the Lie objects, with new member/static functions in most of the geometry objects. Many of the functions that were previously global have been moved to static functions. See Lie.h for more details.
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2010-08-19 20:03:06 +00:00 |
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Richard Roberts
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f1132359d4
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Installing headers in subdirectories and converted include directives to match the subdirectory structure (also see email to frankcvs)
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2010-08-19 17:23:19 +00:00 |
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Alex Cunningham
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30c3f46b52
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FusionTupleConfigs work correctly for optimization
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2010-08-16 19:19:50 +00:00 |
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Alex Cunningham
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977155d133
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Added simpler interfaces for FusionTupleConfig for 1,2, and 3 variable types
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2010-08-15 21:35:03 +00:00 |
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Alex Cunningham
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a2fecf51c9
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FusionTupleConfig is now a full config
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2010-08-14 21:15:45 +00:00 |
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Alex Cunningham
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f3ccfaf100
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Added dummy initialization of LieConfigs from arbitrary other LieConfigs, FusionTupleConfigs can now be created from arbitrary other FusionConfigs.
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2010-08-13 19:51:04 +00:00 |
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Alex Cunningham
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f6dbee41d2
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More of FusionTupleConfig works
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2010-08-13 14:55:26 +00:00 |
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Alex Cunningham
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c2a83759cb
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Added experimental replacement for TupleConfig using boost.fusion - this should eventually make it possible to make nonlinear factors interchangable regardless of config type.
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2010-08-12 15:23:03 +00:00 |
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Alex Cunningham
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3fd36bca53
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Added TupleConfig1 wrapper
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2010-08-12 12:44:36 +00:00 |
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Alex Cunningham
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6aff189008
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Enabled pragma once for Lie-inl.h to avoid redefinition errors
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2010-08-10 19:50:12 +00:00 |
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Alex Cunningham
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5991d1edfd
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Added a nonlinear factor to approximate a linear factor from MastSLAM
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2010-08-10 16:59:22 +00:00 |
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Alex Cunningham
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16d283d1e1
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Added "TestableAssertions.h" as a header file to add specializations for operations on Testable objects, like assert_equal for vectors of Testable objects. The separate header file is so that changes don't require recompiling the entire library.
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2010-08-10 16:58:42 +00:00 |
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Alex Cunningham
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1c72d92365
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Moved TransformConstraint into gtsam, cleaned up includes
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2010-08-10 14:30:41 +00:00 |
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Alex Cunningham
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4f9a60d41c
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Nonlinear bounding constraints are now working for simple examples. Also, removed extraneous constraint test files.
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2010-08-09 21:59:29 +00:00 |
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Alex Cunningham
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efaca162cf
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Added tests for nonlinear equality constraints, generalized equality constraints
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2010-08-09 17:21:11 +00:00 |
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Alex Cunningham
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38ea7d1ea5
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Added more static optimization helper functions - can now just call optimizeLM(graph,config) or optimizeGN(graph,config) to get an optimized config.
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2010-08-09 17:20:03 +00:00 |
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Richard Roberts
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fa4cf73e8e
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Changed some int's to size_t's that I missed earlier
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2010-08-09 03:48:33 +00:00 |
Frank Dellaert
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6694b395c5
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moved Stereo camera and StereoPoint to gtsam
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2010-08-08 20:23:38 +00:00 |
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Frank Dellaert
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62c63f9452
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collapsed derivatives for threefold speedup
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2010-08-08 19:50:41 +00:00 |
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Frank Dellaert
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4b6eb67340
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moved timing scripts back to main directory, added timeCalibratedCamera
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2010-08-08 18:46:56 +00:00 |
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Frank Dellaert
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4bc3229670
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-F Accelerate does not seem to work on all platforms. Replaced by explicit include.
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2010-08-08 16:59:15 +00:00 |
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Richard Roberts
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0316a53f79
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Removed spurious "using namespace noiseModel"
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2010-08-08 03:10:29 +00:00 |
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Alex Cunningham
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5ada49ea3a
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Moved remaining equality constraint tests to testNonlinearEqualityConstraint. Added NonlinearEquality2, a binary constraint expressing exact equality between variables.
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2010-08-06 20:07:55 +00:00 |
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Alex Cunningham
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a55860eb1d
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Reimplemented nonlinear constraints to remove the old dependency on using boost function pointers and allow for inequality and bounding constraints. Added simple equality constraints in simulated2D and new set of tests. Removed/disabled old tests until they can be worked into new structure.
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2010-08-06 18:30:07 +00:00 |
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Alex Cunningham
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7e3442286e
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Added a Gauss-Newton static function for nonlinear optimization
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2010-08-06 15:10:19 +00:00 |
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Alex Cunningham
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3dfbb26bc7
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Added new test structures that allow for nonfatal assertions: EXPECT, EXPECT_DOUBLES_EQUAL, EXPECT_LONGS_EQUAL. Use these to check several unrelated conditions in a test. testTupleConfig was updated to make use of the new test structures.
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2010-08-06 14:23:12 +00:00 |
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Alex Cunningham
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99e4c09a7e
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Added a FixedVector class that uses a bounded boost vector to allow for type-level dimension specification
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2010-08-02 19:01:00 +00:00 |
Kai Ni
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71074b2188
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avoid constructing and deconstructing btree overhead and speed up the multi-frontal solver
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2010-07-31 07:19:03 +00:00 |
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Alex Cunningham
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27c009d792
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Added new constructors for PlanarSLAM graphs
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2010-07-30 17:07:10 +00:00 |
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Alex Cunningham
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7c2ad06016
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Added clear() and empty() to TupleConfig
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2010-07-30 16:19:52 +00:00 |
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Kai Ni
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bc3032b9a0
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fixed compilation error
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2010-07-29 06:26:23 +00:00 |
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Alex Cunningham
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d1ae7132ac
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Added constructor to upgrade a TypedSymbol to a labeled symbol
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2010-07-26 17:23:18 +00:00 |
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Alex Cunningham
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82a160074a
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Removed the test from testGaussianFactor from an old MAST failure case - as it turns out, the system had inconsistent dimensions, which is why elimination crashed out.
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2010-07-23 13:25:27 +00:00 |
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Alex Cunningham
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d6157ab828
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Added a static nonlinear optimization function that uses default ordering and thresholds and returns an updated config.
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2010-07-22 21:17:02 +00:00 |
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Alex Cunningham
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cf2b3db5a6
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Added CHECK_EXCEPTION() that can test whether an operation throws a specific exception, and used it in example tests
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2010-07-20 14:51:00 +00:00 |