Frank Dellaert
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d4aaa5d114
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Added two more removePath tests and fixed bug in removeTop. But orphan list is still incorrect.
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2009-11-22 18:06:28 +00:00 |
Michael Kaess
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45292f7bd6
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Cliques implemented; unit test on orphans for removePath; bug fix in removePath/orphans
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2009-11-22 17:40:24 +00:00 |
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Frank Dellaert
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53754ccbb8
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removeTop with one factor implemented and one test works (orphans not yet checked)
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2009-11-22 17:34:59 +00:00 |
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Frank Dellaert
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6f11c0803b
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Cliques class
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2009-11-22 16:46:29 +00:00 |
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Frank Dellaert
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7ce62f1626
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Some template magic and boost:tie cleared up the compile issues in removePath
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2009-11-22 16:04:51 +00:00 |
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Michael Kaess
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4449cfd30c
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remove_path now also returns list of orphaned subtree roots; compile problem...
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2009-11-21 23:41:43 +00:00 |
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Frank Dellaert
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82aae3c161
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Some re-factoring (using BOOST_FOREACH to loop over string list), root is now NULL after removing root clique
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2009-11-21 21:48:10 +00:00 |
Alex Cunningham
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1fd0404ec9
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Cleanup in testSQP, also demoed the unary constraint, as well.
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2009-11-21 19:05:24 +00:00 |
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Frank Dellaert
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00b5b25591
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Awesome recursive version of removePath
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2009-11-21 06:14:53 +00:00 |
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Frank Dellaert
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072846a70f
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moved addClique and removeClique implementations to inl.h,
removePath takes clique argument now
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2009-11-21 06:07:46 +00:00 |
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Frank Dellaert
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286d826119
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removed print
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2009-11-21 06:06:30 +00:00 |
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Frank Dellaert
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b113194e58
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While watching TV :-) added some constructors for more readable tests.
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2009-11-21 04:59:50 +00:00 |
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Frank Dellaert
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a0a250750b
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compare config
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2009-11-21 04:22:59 +00:00 |
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Michael Kaess
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0286bc27eb
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removePath mostly working
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2009-11-21 03:38:13 +00:00 |
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Alex Cunningham
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08f5b074a0
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Added verbosity selector for the SQP demo to remove printouts every time it runs
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2009-11-20 14:29:11 +00:00 |
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Frank Dellaert
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715dc4474d
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functional STL magic
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2009-11-20 14:18:26 +00:00 |
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Frank Dellaert
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d234365d53
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involves is const
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2009-11-20 14:17:52 +00:00 |
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Alex Cunningham
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5f848f272b
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SQP demo that moves maps into the correct reference frames is now working using the NonlinearConstraint machinery.
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2009-11-20 14:05:21 +00:00 |
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Frank Dellaert
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e440767db9
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Use [involves], and now updating orphan list
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2009-11-20 05:23:47 +00:00 |
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Frank Dellaert
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55e85fd8a5
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[involves] checks whether variable with that key is involved in any factor
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2009-11-20 05:14:34 +00:00 |
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Alex Cunningham
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6aba2f1c1c
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Changed initial SQP example to use exmap using the new scaling function for VectorConfig
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2009-11-20 05:13:32 +00:00 |
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Alex Cunningham
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acfe742c29
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Added a simple scaling function for VectorConfigs
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2009-11-20 05:10:55 +00:00 |
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Alex Cunningham
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714edb57f0
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Basic implementation of a binary nonlinear constraint, with working linearization of a binary constraint.
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2009-11-20 03:50:48 +00:00 |
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Alex Cunningham
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ee4a066275
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Implemented linearization and equality for unary NonlinearConstraints. Current tests use a scalar example. Split out implementation into a separate implementation file.
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2009-11-20 03:04:49 +00:00 |
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Michael Kaess
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4ca1dbf325
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generalized most of the update algorithm
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2009-11-19 23:25:03 +00:00 |
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Alex Cunningham
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429f27550c
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Added a NonlinearConstraint and testNonlinearConstraint. There is currently an abstract base class for constraints and a partially implemented unary constraint.
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2009-11-19 16:50:18 +00:00 |
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Frank Dellaert
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cd913566f2
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I now use push_back to add factors to the new factor graph, and called getOrdering to compute a colamd order. I fixed the test so it checks the right order. Unfortunately colamd is a worse ordering, and the two cliques from before are merged into one.
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2009-11-19 06:37:06 +00:00 |
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Frank Dellaert
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8d8503bd99
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constructor with three parents
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2009-11-19 06:34:28 +00:00 |
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Frank Dellaert
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b2eee54b5a
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push_back an entire factor graph
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2009-11-19 06:34:07 +00:00 |
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Frank Dellaert
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e2a3d1cb8f
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Fixed test
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2009-11-19 04:52:46 +00:00 |
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Alex Cunningham
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f98f49381a
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Added an example to testSQP to use for combining graphs
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2009-11-18 21:57:59 +00:00 |
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Alex Cunningham
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d700cd2cac
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Made some small changes to testSQP to simplify the system and improve convergence.
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2009-11-18 20:23:07 +00:00 |
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Alex Cunningham
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7fc68e2d90
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Updated testSQP to use a real SQP implementation as separate factors on the previous problem. SQP now works.
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2009-11-18 19:42:14 +00:00 |
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Frank Dellaert
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76d0a60b88
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commented out all print statements
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2009-11-18 18:22:08 +00:00 |
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Frank Dellaert
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f40182518a
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size() now returns correct nr. of cliques, not number of keys
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2009-11-18 18:05:12 +00:00 |
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Michael Kaess
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d0efe2da5e
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update almost correct, except for order
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2009-11-18 17:40:05 +00:00 |
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Frank Dellaert
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23031fbc04
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convert clique into factor graph
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2009-11-18 17:28:07 +00:00 |
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Frank Dellaert
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1edcdb6f80
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added SymbolicFactor constructor that takes a SymbolicConditional
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2009-11-18 17:27:27 +00:00 |
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Frank Dellaert
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c7e76891da
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skeleton hardcoded version
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2009-11-18 17:03:19 +00:00 |
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Frank Dellaert
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bed219c997
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no printout
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2009-11-18 16:32:45 +00:00 |
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Frank Dellaert
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21974f95e1
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test for incremental update
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2009-11-18 16:31:19 +00:00 |
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Frank Dellaert
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bef2efacb7
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fixed equals
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2009-11-18 16:30:57 +00:00 |
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Frank Dellaert
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ceed2ae17d
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symbolic tree in testIncremental
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2009-11-18 15:37:19 +00:00 |
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Michael Kaess
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f56bf8c79f
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added missing include to satisfy stricter compiler; added isam test file
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2009-11-17 21:47:42 +00:00 |
Chris Beall
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4f7d31986c
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added cameraConstraint and corresponding unit test based on same 2 camera/4 landmark example, but now there are constraints on the two cameras and none of the landmarks.
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2009-11-17 17:19:54 +00:00 |
Manohar Paluri
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e4eaae4605
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Added equals function and serialization capability
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2009-11-17 01:19:55 +00:00 |
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Manohar Paluri
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d24846d9a0
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fixed errors due to shared pointer change in VSLAMFactor
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2009-11-17 01:02:55 +00:00 |
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Manohar Paluri
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e312252006
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Changed camera matrix to a shared pointer
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2009-11-17 00:51:27 +00:00 |
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Manohar Paluri
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256c094039
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Added default constructor and Serialization
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2009-11-16 23:49:04 +00:00 |
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Alex Cunningham
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20830a1534
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Added testSQP demo to show a simple problem solved by Sequential Quadratic Programming. To see the outputs, set verbose=true at the start of the test.
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2009-11-16 19:12:56 +00:00 |