Frank Dellaert
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a66f08a5e0
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testing new alphaFactor
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2009-12-11 18:03:43 +00:00 |
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Frank Dellaert
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f91a1f0192
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error_vector
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2009-12-11 17:42:54 +00:00 |
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Frank Dellaert
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abc268a13d
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quick cleanup - expmap comments
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2009-12-11 14:22:35 +00:00 |
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Frank Dellaert
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16e1f6e56d
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use Vector_ for conciseness
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2009-12-11 05:28:19 +00:00 |
Chris Beall
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11b61138b7
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oops, when I fixed the typo I had the optimized version uncommented.
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2009-12-11 05:11:14 +00:00 |
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Chris Beall
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2f8e7b2d47
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fixed important typo
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2009-12-11 05:07:23 +00:00 |
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Frank Dellaert
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726858145a
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gradient descent (with fixed nr. of iterations, choosing optimal step size)
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2009-12-11 04:59:05 +00:00 |
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Frank Dellaert
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299fcf1e04
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scale is const !
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2009-12-11 04:57:31 +00:00 |
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Frank Dellaert
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c57501eddd
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fix macro so GTSAM_PRINT(*foo) works
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2009-12-11 04:57:14 +00:00 |
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Frank Dellaert
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7151e7b24a
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new constructor from vector
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2009-12-11 04:56:29 +00:00 |
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Chris Beall
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b65b0c367e
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Significant performance gains can be achieved by compiling gtsam with NDEBUG defined. This causes uBLAS to be optimized.
5x speedup on large factor graph, 10x speedup on smaller one.
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2009-12-11 04:47:52 +00:00 |
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Frank Dellaert
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4af2382105
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Gradient at solution is zero !
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2009-12-11 02:59:09 +00:00 |
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Chris Beall
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532ea0ae36
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fixed weird error that several of us have been experiencing with GaussianBayesTree.h appearing twice in the install command. fixed by moving Symbolic inference section above Inference Section.
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2009-12-11 01:38:45 +00:00 |
Viorela Ila
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1a96534016
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add Pose2Graph
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2009-12-10 23:45:38 +00:00 |
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Frank Dellaert
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e7a912bd3b
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Calculate gradient of factor graph objective function.
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2009-12-10 20:19:15 +00:00 |
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Frank Dellaert
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67e1897e47
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Get and [] now return references, new imperative add method
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2009-12-10 20:17:11 +00:00 |
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Frank Dellaert
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81ce0bef88
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New operator for left-multiplication of vector
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2009-12-10 20:16:40 +00:00 |
Michael Kaess
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2df0e49e9b
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optimize works for GaussianBayessTree
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2009-12-10 17:00:11 +00:00 |
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Frank Dellaert
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edf8bfa0fa
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Added to testPose2Factor to svn ignore
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2009-12-10 15:35:11 +00:00 |
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Frank Dellaert
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f44af12836
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Renamed variable
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2009-12-10 15:34:09 +00:00 |
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Frank Dellaert
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d26664d975
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Convenience functions for adding factors
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2009-12-10 15:33:52 +00:00 |
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Viorela Ila
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5587073ba2
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update Matlab files
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2009-12-10 04:16:51 +00:00 |
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Viorela Ila
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e0274dab59
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Pose2Config constructor
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2009-12-10 04:12:41 +00:00 |
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Viorela Ila
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072dea81b0
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rename Pose2Constraint using Pose2Factor
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2009-12-09 23:43:01 +00:00 |
Manohar Paluri
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cee3f2a355
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fixed recursive inclusion. Was giving error when you build gtsam
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2009-12-09 22:53:44 +00:00 |
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Frank Dellaert
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db0d7286c2
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Fixed Michael's c++ trubbles.
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2009-12-09 22:15:38 +00:00 |
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Michael Kaess
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72ba1bee24
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separate cpp
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2009-12-09 22:02:50 +00:00 |
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Frank Dellaert
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4471518658
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Added testGaussianBayesTree to ignore
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2009-12-09 21:51:10 +00:00 |
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Frank Dellaert
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7d4de3ec20
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Added a 1D manifold implementation of 2D rotations. The new representation stores (cos theta, sin theta) rather than theta itself, ensuring that (a) rotate and unrotate do not call cos/sin, (b) same for all derivatives of rotate and unrotate, (c) when you call angle(), you always get the standardized answer given by atan2. The idea is that we will use this new type in Pose2 instead of angle.
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2009-12-09 21:50:27 +00:00 |
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Chris Beall
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91370a9d7a
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added public iterator typedefs to VSLAMConfig to make it easier for other code to consume the optimization results.
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2009-12-09 21:47:23 +00:00 |
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Manohar Paluri
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1ec93f05cd
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added a test case which uses getOrdering instead of defining the order manually.
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2009-12-09 21:22:16 +00:00 |
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Frank Dellaert
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a9dc57db2c
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2009-12-09 21:00:53 +00:00 |
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Michael Kaess
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ffa009d3ff
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accidentially checked in
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2009-12-09 20:56:03 +00:00 |
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Michael Kaess
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34e913e236
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optimization over cliques started
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2009-12-09 20:49:04 +00:00 |
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Viorela Ila
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638b174541
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Pose2Constraint works in matlab
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2009-12-09 19:55:25 +00:00 |
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Michael Kaess
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4200271cf4
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GaussianBayesTree added, testBayesTree split
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2009-12-09 19:39:25 +00:00 |
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Chris Beall
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a4a552ea86
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fixed bug concerning variable keys not being saved.
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2009-12-09 19:13:02 +00:00 |
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Chris Beall
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3b3c76b273
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cleaned up, and removed Testable here because it's already provided by base class FactorGraph
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2009-12-09 19:11:45 +00:00 |
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Viorela Ila
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8e079a9794
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add testPose2Constraint.run target
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2009-12-09 17:30:47 +00:00 |
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Viorela Ila
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b87aa58c1f
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add Pose2Constraint class
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2009-12-09 17:29:43 +00:00 |
Richard Roberts
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787f6e0299
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Small fix
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2009-12-09 16:30:58 +00:00 |
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Manohar Paluri
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f764772106
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added getOrdering unit test
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2009-12-09 15:25:50 +00:00 |
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Richard Roberts
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e43548d03a
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A couple more "missing" .hpp files for newer gcc :-)
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2009-12-08 22:49:57 +00:00 |
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Michael Kaess
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9bbea6dcbd
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some additional includes needed with newer compiler
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2009-12-08 21:40:09 +00:00 |
Alex Cunningham
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d7c67532bf
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Changed format of Matrix::vector_scale() to switch arguments
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2009-12-08 21:10:38 +00:00 |
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Richard Roberts
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c2a6a87b81
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Version check for Boost version 1.40 or greater
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2009-12-08 20:50:03 +00:00 |
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Frank Dellaert
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066b80e02e
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Pose2Constraint, initial check in with working linearize
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2009-12-08 20:48:39 +00:00 |
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Frank Dellaert
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16da0895a8
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square_root_inverse
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2009-12-08 20:48:13 +00:00 |
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Frank Dellaert
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d1ab2c7288
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transform_to and between, with derivatives, unit-tested
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2009-12-08 19:12:20 +00:00 |
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Richard Roberts
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2f1b176fe9
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Recreated ISAM2 project and fixed bug in gt.cmake
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2009-12-08 17:23:06 +00:00 |