dellaert
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e46a8b05eb
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Some mode readable matrix types
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2014-10-11 23:06:57 +02:00 |
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dellaert
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c776e87f78
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Refactoring for readability/sanity
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2014-10-11 21:33:07 +02:00 |
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dellaert
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1bac83381f
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Merge remote-tracking branch 'origin/feature/BAD_meta' into feature/BAD: Now the Record structures are recursively generated using template meta-programming, basically mpl::fold
Conflicts:
gtsam_unstable/nonlinear/Expression-inl.h
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2014-10-11 15:20:12 +02:00 |
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dellaert
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88f9a423c5
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Numbered types avoid ambiguity
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2014-10-11 14:19:39 +02:00 |
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dellaert
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252024cc9b
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Merge branch 'feature/BAD_raw' into feature/BAD: the entire allocation tree is now allocated all at once, in Expression::reverse, on the stack. the traceExecution method then takes a raw pointer, and the "placement new" is used to grab that existing memory, avoiding all mallocs altogether. The only mallocs that still happen - that are responsible for almost all time within reverse - are the leaves inserting general matrices into a map to pass back to linearize.
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2014-10-11 13:50:49 +02:00 |
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dellaert
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ecf6462a25
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Victory!! Unit tests work!
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2014-10-11 13:07:58 +02:00 |
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dellaert
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599e232d1d
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traceSize, two tests work
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2014-10-11 12:11:22 +02:00 |
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dellaert
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9585823d5d
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...but works with correct size !
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2014-10-11 11:32:52 +02:00 |
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dellaert
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deed7b8018
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Unary prints, but still-faults downstream
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2014-10-11 11:30:06 +02:00 |
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dellaert
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05f78b6dca
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Re-factor, allow traceExecution
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2014-10-11 11:29:42 +02:00 |
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dellaert
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1f692638f5
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Accessing matrices works
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2014-10-11 11:04:39 +02:00 |
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dellaert
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69b69a0bc8
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placement new works! And sophisticated Trace::print
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2014-10-11 11:03:35 +02:00 |
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dellaert
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eef2d49e8d
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First prototype, segfaults
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2014-10-11 10:27:30 +02:00 |
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dellaert
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e09e24964a
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No need to have all of T as template parameter
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2014-10-11 09:00:03 +02:00 |
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dellaert
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820988b04e
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Do casting inside Trace
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2014-10-11 08:52:24 +02:00 |
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dellaert
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52fc6f2db4
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Testing old trace
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2014-10-11 08:41:39 +02:00 |
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dellaert
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820e9553ee
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TestBinaryExpression friend
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2014-10-11 08:17:46 +02:00 |
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dellaert
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a2d2d82e0e
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some namespace management
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2014-10-11 07:39:13 +02:00 |
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dellaert
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23485a0e71
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New and consistent naming: ExecutionTrace = whole tree, CallRecord = local information left by the function.
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2014-10-10 17:45:39 +02:00 |
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dellaert
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5cfe761f27
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Timing multi-threaded code
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2014-10-10 17:17:20 +02:00 |
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dellaert
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ae93dd9869
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Commented out repeated arguments
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2014-10-10 13:57:37 +02:00 |
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dellaert
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58bbce482d
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Ternary works, same caveat
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2014-10-10 13:33:13 +02:00 |
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dellaert
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406467e341
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Binary works, but it's ugly and does not work for repeated types
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2014-10-10 13:29:56 +02:00 |
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dellaert
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24714e48c5
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Works for Unary !
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2014-10-10 12:38:26 +02:00 |
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dellaert
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f8468bd596
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Recursion done
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2014-10-10 12:31:40 +02:00 |
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dellaert
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40fc6f5c03
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Working prototype
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2014-10-10 12:29:01 +02:00 |
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dellaert
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dd1b931802
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Successfully defined Jacobian
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2014-10-10 12:03:13 +02:00 |
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dellaert
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732ff54b83
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More experiments
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2014-10-10 11:41:01 +02:00 |
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dellaert
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8e264f4289
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Attempt at defining Trace recursively
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2014-10-09 14:38:16 +02:00 |
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dellaert
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5e5457b390
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Renamed entry point to startReverseAD to emphasize it is only called once
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2014-10-09 13:42:43 +02:00 |
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dellaert
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563c4d214c
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Renamed BADFactor -> ExpressionFactor
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2014-10-09 13:00:56 +02:00 |
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dellaert
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7e069191e5
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Slight refactor
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2014-10-09 10:58:46 +02:00 |
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dellaert
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a38a0ae9e1
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Some comments
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2014-10-09 00:21:10 +02:00 |
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dellaert
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9ebe1e6d10
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Super-speedup by specializing to 2-dimensional output (for now). Using some template magic.
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2014-10-08 23:50:17 +02:00 |
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dellaert
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31c138d0d6
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Profile Bin(Leaf,Un(Bin(Leaf,Leaf))) by default
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2014-10-08 17:52:46 +02:00 |
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dellaert
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abb92632b8
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Empty derived destructors are not needed
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2014-10-08 17:32:46 +02:00 |
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dellaert
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6a1bc6e242
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Documentation
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2014-10-08 17:28:33 +02:00 |
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dellaert
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4ac065fab4
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Show explanation of timing
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2014-10-08 17:27:46 +02:00 |
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dellaert
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ce2dcaeb3b
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Tagged union, lightweight
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2014-10-08 15:39:59 +02:00 |
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dellaert
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390842e1f7
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Put Trace in front
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2014-10-08 13:58:15 +02:00 |
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dellaert
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ba9faa68b6
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New Leaf/noise tests
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2014-10-08 13:56:54 +02:00 |
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dellaert
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d38bcf1805
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Merge remote-tracking branch 'origin/feature/BAD_FixedJacobians' into feature/BAD
Conflicts:
gtsam_unstable/nonlinear/tests/testBADFactor.cpp
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2014-10-07 20:59:09 +02:00 |
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dellaert
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d7022a21c7
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More samples to average
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2014-10-07 20:11:19 +02:00 |
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dellaert
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c4a92acde1
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Avoid argument temporaries
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2014-10-07 19:35:44 +02:00 |
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dellaert
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84987aa351
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Deal with Rot3 changes
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2014-10-07 19:35:20 +02:00 |
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dellaert
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e1c9ae95cb
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Some fixed matrices
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2014-10-07 19:35:06 +02:00 |
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dellaert
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b704b7b1a1
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Faster versions
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2014-10-07 19:34:45 +02:00 |
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dellaert
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3c1c9c6d12
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Switch to pointers - nice improvement
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2014-10-07 18:11:12 +02:00 |
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dellaert
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982dc29d2f
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Time ternary version as well
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2014-10-07 18:10:53 +02:00 |
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dellaert
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e4392c0a3b
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JacobianTrace no longer templated
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2014-10-07 16:11:55 +02:00 |