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			@ -25,14 +25,14 @@
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#include <boost/tuple/tuple.hpp>
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#include <boost/assign/list_of.hpp>
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#include <boost/assign/std/list.hpp> // for operator +=
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using namespace boost::assign;
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#include <boost/bind/bind.hpp>
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using namespace boost::placeholders;
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// STL/C++
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#include <iostream>
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#include <sstream>
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using namespace boost::assign;
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using namespace boost::placeholders;
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using namespace std;
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using namespace gtsam;
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			@ -21,9 +21,7 @@
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#include <boost/assign/list_of.hpp>
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#include <boost/assign/std/list.hpp> // for operator +=
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#include <boost/assign/std/set.hpp> // for operator +=
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using namespace boost::assign;
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#include <boost/bind/bind.hpp>
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using namespace boost::placeholders;
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#include <gtsam/base/debug.h>
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#include <gtsam/base/numericalDerivative.h>
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			@ -31,6 +29,8 @@ using namespace boost::placeholders;
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#include <gtsam/linear/GaussianBayesTree.h>
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#include <gtsam/linear/GaussianConditional.h>
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using namespace boost::assign;
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using namespace boost::placeholders;
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using namespace std;
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using namespace gtsam;
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			@ -28,13 +28,13 @@
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#include <boost/assign/std/list.hpp> // for operator +=
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#include <boost/assign/std/vector.hpp>
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#include <boost/assign/list_of.hpp>
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using namespace boost::assign;
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#include <boost/bind/bind.hpp>
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using namespace boost::placeholders;
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#include <stdexcept>
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#include <limits>
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#include <type_traits>
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using namespace boost::assign;
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using namespace boost::placeholders;
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using namespace gtsam;
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using namespace std;
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static double inf = std::numeric_limits<double>::infinity();
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