first working version with (unnormalized) rotations only
Luca
parent
2f2a40a737
commit
e031ba036d
138
.cproject
138
.cproject
|
|
@ -1,19 +1,17 @@
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<?fileVersion 4.0.0?>
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<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
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<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
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<storageModule moduleId="org.eclipse.cdt.core.settings">
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<cconfiguration id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544">
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<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544" moduleId="org.eclipse.cdt.core.settings" name="MacOSX GCC">
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<externalSettings/>
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<extensions>
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<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
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<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
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</extensions>
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</storageModule>
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<storageModule moduleId="cdtBuildSystem" version="4.0.0">
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@ -62,13 +60,13 @@
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<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1441575890" moduleId="org.eclipse.cdt.core.settings" name="Timing">
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<externalSettings/>
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<extensions>
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||||
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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||||
<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
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||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
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</extensions>
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</storageModule>
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<storageModule moduleId="cdtBuildSystem" version="4.0.0">
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@ -118,13 +116,13 @@
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<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.127261216" moduleId="org.eclipse.cdt.core.settings" name="fast">
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<externalSettings/>
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||||
<extensions>
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||||
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
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||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
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</extensions>
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</storageModule>
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<storageModule moduleId="cdtBuildSystem" version="4.0.0">
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@ -584,6 +582,7 @@
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</target>
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<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -591,6 +590,7 @@
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</target>
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<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBinaryBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -638,6 +638,7 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -645,6 +646,7 @@
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</target>
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<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testSymbolicFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -652,6 +654,7 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -667,6 +670,7 @@
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</target>
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<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1002,6 +1006,7 @@
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</target>
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<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testErrors.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1231,6 +1236,46 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testBTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSF.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFMap.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testFixedVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1313,7 +1358,6 @@
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</target>
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2DOriented.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1353,7 +1397,6 @@
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</target>
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<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1361,7 +1404,6 @@
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</target>
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<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated3D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1375,46 +1417,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testBTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSF.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFMap.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testFixedVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testEliminationTree.run" path="build/gtsam/inference/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -1672,6 +1674,7 @@
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</target>
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<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G DEB</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1679,6 +1682,7 @@
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</target>
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<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G RPM</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1686,6 +1690,7 @@
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</target>
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<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G TGZ</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1693,6 +1698,7 @@
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</target>
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<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2419,6 +2425,7 @@
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</target>
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<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2426,6 +2433,7 @@
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</target>
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<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testJunctionTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2433,6 +2441,7 @@
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</target>
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<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNetB.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2622,6 +2631,22 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testInitializePose3.run" path="build/gtsam/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testInitializePose3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testLago.run" path="build/gtsam/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testLago.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="SimpleRotation.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -2798,14 +2823,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testLago.run" path="build/gtsam/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testLago.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testLinearContainerFactor.run" path="build/gtsam/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -2896,7 +2913,6 @@
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</target>
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<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testGaussianISAM2</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -44,24 +44,27 @@ GaussianFactorGraph buildLinearOrientationGraph(const NonlinearFactorGraph& g) {
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noiseModel::Unit::shared_ptr model = noiseModel::Unit::Create(9);
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BOOST_FOREACH(const boost::shared_ptr<NonlinearFactor>& factor, g) {
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Matrix3 Rijt;
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Matrix3 Rij;
|
||||
|
||||
boost::shared_ptr<BetweenFactor<Pose3> > pose3Between =
|
||||
boost::dynamic_pointer_cast<BetweenFactor<Pose3> >(factor);
|
||||
if (pose3Between)
|
||||
Rijt = pose3Between->measured().rotation().matrix().transpose();
|
||||
Rij = pose3Between->measured().rotation().matrix();
|
||||
else
|
||||
std::cout << "Error in buildLinearOrientationGraph" << std::endl;
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||||
|
||||
// std::cout << "Rij \n" << Rij << std::endl;
|
||||
|
||||
const FastVector<Key>& keys = factor->keys();
|
||||
Key key1 = keys[0], key2 = keys[1];
|
||||
Matrix M9 = (Matrix(9,9) << Rijt, zero33, zero33,
|
||||
zero33, Rijt, zero33,
|
||||
zero33, zero33, Rijt);
|
||||
Matrix M9 = Matrix::Zero(9,9);
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||||
M9.block(0,0,3,3) = Rij;
|
||||
M9.block(3,3,3,3) = Rij;
|
||||
M9.block(6,6,3,3) = Rij;
|
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linearGraph.add(key1, -I9, key2, M9, zero9, model);
|
||||
}
|
||||
// prior on the anchor orientation
|
||||
linearGraph.add(keyAnchor, I9, (Vector(1) << 1.0, 0.0, 0.0,/* */ 0.0, 1.0, 0.0, /* */ 0.0, 0.0, 1.0), model);
|
||||
linearGraph.add(keyAnchor, I9, (Vector(9) << 1.0, 0.0, 0.0,/* */ 0.0, 1.0, 0.0, /* */ 0.0, 0.0, 1.0), model);
|
||||
return linearGraph;
|
||||
}
|
||||
|
||||
|
|
@ -71,7 +74,18 @@ Values normalizeRelaxedRotations(const VectorValues& relaxedRot3) {
|
|||
gttic(InitializePose3_computeOrientations);
|
||||
|
||||
Values validRot3;
|
||||
|
||||
BOOST_FOREACH(const VectorValues::value_type& it, relaxedRot3) {
|
||||
Key key = it.first;
|
||||
if (key != keyAnchor) {
|
||||
const Vector& rotVector = it.second;
|
||||
Matrix3 rotMat;
|
||||
rotMat(0,0) = rotVector(0); rotMat(0,1) = rotVector(1); rotMat(0,2) = rotVector(2);
|
||||
rotMat(1,0) = rotVector(3); rotMat(1,1) = rotVector(4); rotMat(1,2) = rotVector(5);
|
||||
rotMat(2,0) = rotVector(6); rotMat(2,1) = rotVector(7); rotMat(2,2) = rotVector(8);
|
||||
Rot3 initRot = Rot3(rotMat);
|
||||
validRot3.insert(key, initRot);
|
||||
}
|
||||
}
|
||||
return validRot3;
|
||||
}
|
||||
|
||||
|
|
@ -112,9 +126,7 @@ Values computeOrientations(const NonlinearFactorGraph& pose3Graph) {
|
|||
VectorValues relaxedRot3 = relaxedGraph.optimize();
|
||||
|
||||
// normalize and compute Rot3
|
||||
Values initializedRot3 = normalizeRelaxedRotations(relaxedRot3);
|
||||
|
||||
return initializedRot3;
|
||||
return normalizeRelaxedRotations(relaxedRot3);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -46,19 +46,19 @@ namespace simple {
|
|||
// \ | /
|
||||
// x0
|
||||
//
|
||||
static Point3 p1 = Point3(0,0,0);
|
||||
static Rot3 R1 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,0.0 ) );
|
||||
static Point3 p2 = Point3(1,2,0);
|
||||
static Rot3 R2 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,1.570796 ) );
|
||||
static Point3 p3 = Point3(0,2,0);
|
||||
static Rot3 R3 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,3.141593 ) );
|
||||
static Point3 p4 = Point3(-1,1,0);
|
||||
static Rot3 R4 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,4.712389 ) );
|
||||
static Point3 p0 = Point3(0,0,0);
|
||||
static Rot3 R0 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,0.0 ) );
|
||||
static Point3 p1 = Point3(1,2,0);
|
||||
static Rot3 R1 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,1.570796 ) );
|
||||
static Point3 p2 = Point3(0,2,0);
|
||||
static Rot3 R2 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,3.141593 ) );
|
||||
static Point3 p3 = Point3(-1,1,0);
|
||||
static Rot3 R3 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,4.712389 ) );
|
||||
|
||||
static Pose3 pose0 = Pose3(R1,p1);
|
||||
static Pose3 pose1 = Pose3(R2,p2);
|
||||
static Pose3 pose2 = Pose3(R3,p3);
|
||||
static Pose3 pose3 = Pose3(R4,p4);
|
||||
static Pose3 pose0 = Pose3(R0,p0);
|
||||
static Pose3 pose1 = Pose3(R1,p1);
|
||||
static Pose3 pose2 = Pose3(R2,p2);
|
||||
static Pose3 pose3 = Pose3(R3,p3);
|
||||
|
||||
NonlinearFactorGraph graph() {
|
||||
NonlinearFactorGraph g;
|
||||
|
|
@ -83,7 +83,10 @@ TEST( InitializePose3, orientations ) {
|
|||
Values initial = InitializePose3::initializeOrientations(simple::graph());
|
||||
|
||||
// comparison is up to M_PI, that's why we add some multiples of 2*M_PI
|
||||
EXPECT(assert_equal(initial.at<Pose3>(0), simple::pose0, 1e-6));
|
||||
EXPECT(assert_equal(simple::R0, initial.at<Rot3>(x0), 1e-6));
|
||||
EXPECT(assert_equal(simple::R1, initial.at<Rot3>(x1), 1e-6));
|
||||
EXPECT(assert_equal(simple::R2, initial.at<Rot3>(x2), 1e-6));
|
||||
EXPECT(assert_equal(simple::R3, initial.at<Rot3>(x3), 1e-6));
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue