Kai Ni
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03ca6ccc93
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a new implementation of SPQRUtil to enhance the efficiency
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2010-07-06 05:18:21 +00:00 |
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Kai Ni
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ef20bc75db
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remove obsoleted comments
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2010-07-05 19:44:08 +00:00 |
Alex Cunningham
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56230f62dc
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Fixed build flags to allow building on linux
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2010-07-05 13:45:01 +00:00 |
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Kai Ni
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1a84b3127e
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remove timing code
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2010-07-05 01:32:31 +00:00 |
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Kai Ni
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d5c6f62387
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massive check in for using spqr_front
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2010-07-04 23:50:21 +00:00 |
Frank Dellaert
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782eeb0bde
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comment only
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2010-07-01 20:50:37 +00:00 |
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Frank Dellaert
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41735ff9d7
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Added some comments with Alex
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2010-07-01 19:57:20 +00:00 |
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Kai Ni
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1547597ba4
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add separate flags for lapack
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2010-06-30 17:23:58 +00:00 |
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Kai Ni
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70adcb26c9
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the lapack version of householder
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2010-06-30 15:57:12 +00:00 |
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Kai Ni
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2d40df17ac
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added a vector-based DSF implmentation
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2010-06-25 06:35:44 +00:00 |
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Kai Ni
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676a74a0ac
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fixed a potential bug
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2010-06-23 03:09:26 +00:00 |
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Alex Cunningham
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fb4edc3642
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Re-enabled test for subgraph solver in testNonlinearOptimizer and removed binary
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2010-06-11 14:36:04 +00:00 |
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Kai Ni
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ab6fc4f68c
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fixed broken unit tests
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2010-06-10 18:28:07 +00:00 |
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Kai Ni
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553cf83194
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created some unit tests to help viorela to debug
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2010-06-10 18:09:57 +00:00 |
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Alex Cunningham
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1918d28f68
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Added insertSub() to PairConfig
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2010-06-08 18:32:29 +00:00 |
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Alex Cunningham
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8201c32046
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added at() functions to PairConfig
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2010-06-08 17:08:56 +00:00 |
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Alex Cunningham
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d2d6a26ff1
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made a useful constructor for PairConfigs public and tested
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2010-06-07 18:00:43 +00:00 |
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Alex Cunningham
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8ab0e0ac59
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Disabled SubgraphSolver test in testNonlinearOptimizer due to compile problem
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2010-06-07 15:45:54 +00:00 |
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Kai Ni
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2236f75527
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linearPrepare for GaussianNewton
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2010-06-06 17:42:56 +00:00 |
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Kai Ni
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9ddeaa91c6
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linking to SparseQR as a shared library results in a performance hit. The proper way is to link the static library.
add prepareLinear to NonlinearOptimizer so that some computation can be cached and does not happen every time.
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2010-06-05 20:46:16 +00:00 |
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Kai Ni
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ebfd979cc4
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fixed a bug in SPQR calling, and the Victoria Park data-set just flies
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2010-06-01 02:20:10 +00:00 |
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Kai Ni
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d6267c0440
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a preliminary version of SparseQR routines that passes the unit tests but has slightly different results as the old method when optimizing large nonlinear problems.
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2010-05-31 02:21:37 +00:00 |
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Alex Cunningham
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6827b23b3f
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Removed extraneous const that triggered warnings
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2010-05-26 17:32:19 +00:00 |
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Kai Ni
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e6e93475cf
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added sizeOfA
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2010-05-26 08:05:31 +00:00 |
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Kai Ni
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6c4c4f150e
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solved the issue with empty rows
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2010-05-25 08:16:04 +00:00 |
Richard Roberts
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ddd84ee598
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Three-variable NonlinearFactor
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2010-05-25 04:46:17 +00:00 |
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Kai Ni
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c70e818a79
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added a variant of getOrdering
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2010-05-24 08:57:22 +00:00 |
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Richard Roberts
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981082e2a4
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Jacobian versions of compose and between
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2010-05-24 05:40:59 +00:00 |
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Richard Roberts
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3b06e6401a
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Fixed small typo when debug mode is on
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2010-05-22 18:55:45 +00:00 |
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Alex Cunningham
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195fa64178
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Added boost.function versions of numericalDerivative functions to allow for remapping of function arguments and testing of member functions using boost.bind. See note in numericalDerivative.h for details and examples.
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2010-05-21 19:18:23 +00:00 |
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Alex Cunningham
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55e4e791cb
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Set define in graph.h to pacify warnings caused by boost.graph
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2010-05-21 19:16:59 +00:00 |
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Alex Cunningham
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e8979dafad
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Renabled BLAS using ATLAS for Linux, fixed a variety of annoying warnings
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2010-05-21 17:59:26 +00:00 |
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Alex Cunningham
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fa954ab55e
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Added version of transform_from and transform_to to Pose3 with optional derivatives
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2010-05-18 14:51:09 +00:00 |
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Richard Roberts
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1c0dcbc438
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Added smart=true for the noise model when constructing GaussianFactor from GaussianConditional (and unit test). If a factor with a constrained noise model was eliminated, and then a new factor was constructed from the conditional (this happens in iSAM), the new factor would have an unconstrained noise model with zero sigmas.
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2010-05-16 17:08:14 +00:00 |
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Kai Ni
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d5143347d9
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add makeUnionInPlace
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2010-05-08 20:11:19 +00:00 |
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Kai Ni
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2d80c7c1cd
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optimize push_back function
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2010-05-08 20:11:04 +00:00 |
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Alex Cunningham
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d2d51d9f68
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Added single-element update function to TupleConfigs
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2010-05-04 13:41:46 +00:00 |
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Alex Cunningham
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3df1f69e6c
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Added a single-element update() for LieConfig
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2010-05-03 18:07:27 +00:00 |
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Alex Cunningham
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0b5ebba67e
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Added tests for NonlinearEquality for poses near the origin, removed extraneous print statement.
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2010-05-01 22:21:52 +00:00 |
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Alex Cunningham
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8a7ebf9429
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Pacified failing test for ConstraintOptimizer, removed extraneous code in VectorMap
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2010-04-30 14:16:10 +00:00 |
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Kai Ni
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e2728184b9
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normalize cos and sin when there is numerical error, which does happen sometimes when composing two rotations
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2010-04-29 21:28:24 +00:00 |
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Kai Ni
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f81519b046
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fixed a bug in update
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2010-04-29 02:16:18 +00:00 |
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Kai Ni
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5f7b2ef2ee
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return immediately if maxIterations is zero
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2010-04-28 21:35:01 +00:00 |
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Alex Cunningham
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66caac3c1c
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Added BFGS class, as well as a (currently failing) test in testConstraintOptimizer that uses the LDL machinery to solve an unconstrained example
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2010-04-23 06:32:31 +00:00 |
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Alex Cunningham
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9c97550218
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Added raw vector updates for whole VectorMaps
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2010-04-23 06:11:51 +00:00 |
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Alex Cunningham
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c05711a67e
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Basic BFGS test functional
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2010-04-23 04:15:25 +00:00 |
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Alex Cunningham
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e35e7a98d1
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Added analytic hessian SQP example, removed binary
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2010-04-23 02:57:37 +00:00 |
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Alex Cunningham
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6eca454de1
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Added a separate ConstraintOptimizer, and moved CQP test from testMatrix to testConstraintOptimizer
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2010-04-23 02:08:34 +00:00 |
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Alex Cunningham
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ba63628ecd
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Added CQP example from the matlab test, changed the linking to avoid warnings
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2010-04-23 01:34:40 +00:00 |
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Alex Cunningham
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bb654a73ac
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solve_ldl() now works and is a real function
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2010-04-22 23:53:36 +00:00 |