Alex Cunningham
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d788e9833d
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Added tests to ensure that configs will only update existing values when using exmap and not add new ones if there are more values in the delta config. VectorConfig and VSLAMConfig both do this properly now.
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2009-11-24 15:12:59 +00:00 |
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Alex Cunningham
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e3e79e3888
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Added lagrange access function to the SQPOptimizer
Added a test testSQP to try changing the initial Lagrange multiplier values to find a way around the stability problem, but there is no effect.
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2009-11-24 14:44:46 +00:00 |
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Alex Cunningham
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140e79572f
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Added a test to testSQP to check VSLAM solution stability when the initial config is away from the ground truth. The test without the nonlinear constraints has the same stability problem, and both the constrained and unconstrained versions are in place and disabled.
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2009-11-24 14:14:03 +00:00 |
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Alex Cunningham
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fec280db8e
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Added a nonlinear constraint version of the stereo SQP example, but the test when the initial configuration is incorrect is not stable and the points continue moving away indefinitely.
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2009-11-24 06:39:27 +00:00 |
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Alex Cunningham
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31856ce598
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SQPOptimizer can now do its own initialization of the Lagrange multipliers.
Cleaned up NonlinearConstraint
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2009-11-23 22:10:52 +00:00 |
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Alex Cunningham
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a5515d9d57
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SQPoptimizer can now perform optimization, and has a test using the linear map-warping example.
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2009-11-23 21:25:31 +00:00 |
Viorela Ila
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ac315082aa
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new example from RSS sqrtSAM in testBayesTree
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2009-11-23 20:11:10 +00:00 |
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Alex Cunningham
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0b333630e7
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Added an SQPOptimizer class with accompanying test - currently doesn't do much
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2009-11-23 19:57:35 +00:00 |
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Viorela Ila
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d15a7a073c
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SymbolicFactor works in Matlab
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2009-11-23 19:45:09 +00:00 |
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Alex Cunningham
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36877532ad
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Added ground truth for VSLAM example in testSQP
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2009-11-23 16:45:53 +00:00 |
Frank Dellaert
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f272e2f6fe
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Added a second smoother test
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2009-11-23 05:27:37 +00:00 |
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Frank Dellaert
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9bac438dbe
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Play nice with BOOST_FOREACH: non-const begin/end. Also removed buggy clear().
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2009-11-23 05:27:19 +00:00 |
Michael Kaess
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10a8ac34ec
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iSAM smoother test
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2009-11-23 01:16:58 +00:00 |
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Frank Dellaert
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4951a25453
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More efficient removeTop
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2009-11-23 00:02:06 +00:00 |
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Frank Dellaert
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35af122e83
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Added a new version of removeTop and simplified update
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2009-11-22 23:50:01 +00:00 |
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Michael Kaess
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7d384488e3
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BayesTree::update generalized and moved from testIncremental to BayesTree; testIncremental removed
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2009-11-22 23:35:13 +00:00 |
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Frank Dellaert
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64a43b0492
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removeTop now does not bomb when a clique does not exist: it just does nothing
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2009-11-22 22:59:56 +00:00 |
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Frank Dellaert
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4e74edba72
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Some simplification
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2009-11-22 22:39:32 +00:00 |
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Michael Kaess
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ab117947d7
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update now takes a factor graph, rather than an individual factor
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2009-11-22 22:26:24 +00:00 |
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Michael Kaess
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a3de1df5a4
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adding orphans assuming that the first separator key refers to the parent; GTSAM_PRINT define
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2009-11-22 21:18:31 +00:00 |
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Frank Dellaert
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198f73a05f
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Insert conditionals straight into the topless bayesTree
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2009-11-22 18:40:55 +00:00 |
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Frank Dellaert
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32db0595f4
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using removeTop now
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2009-11-22 18:27:14 +00:00 |
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Frank Dellaert
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952798e751
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fixed orphans bug
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2009-11-22 18:22:17 +00:00 |
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Frank Dellaert
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9da2f16f4d
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Removed copy/paste in unit tests
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2009-11-22 18:12:29 +00:00 |
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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 |
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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 |
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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 |