Alex Cunningham
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0b333630e7
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Added an SQPOptimizer class with accompanying test - currently doesn't do much
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2009-11-23 19:57:35 +00:00 |
Viorela Ila
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d15a7a073c
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SymbolicFactor works in Matlab
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2009-11-23 19:45:09 +00:00 |
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Alex Cunningham
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36877532ad
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Added ground truth for VSLAM example in testSQP
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2009-11-23 16:45:53 +00:00 |
Frank Dellaert
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f272e2f6fe
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Added a second smoother test
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2009-11-23 05:27:37 +00:00 |
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Frank Dellaert
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9bac438dbe
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Play nice with BOOST_FOREACH: non-const begin/end. Also removed buggy clear().
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2009-11-23 05:27:19 +00:00 |
Michael Kaess
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10a8ac34ec
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iSAM smoother test
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2009-11-23 01:16:58 +00:00 |
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Frank Dellaert
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4951a25453
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More efficient removeTop
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2009-11-23 00:02:06 +00:00 |
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Frank Dellaert
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35af122e83
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Added a new version of removeTop and simplified update
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2009-11-22 23:50:01 +00:00 |
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Michael Kaess
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7d384488e3
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BayesTree::update generalized and moved from testIncremental to BayesTree; testIncremental removed
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2009-11-22 23:35:13 +00:00 |
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Frank Dellaert
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64a43b0492
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removeTop now does not bomb when a clique does not exist: it just does nothing
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2009-11-22 22:59:56 +00:00 |
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Frank Dellaert
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4e74edba72
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Some simplification
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2009-11-22 22:39:32 +00:00 |
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Michael Kaess
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ab117947d7
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update now takes a factor graph, rather than an individual factor
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2009-11-22 22:26:24 +00:00 |
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Michael Kaess
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a3de1df5a4
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adding orphans assuming that the first separator key refers to the parent; GTSAM_PRINT define
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2009-11-22 21:18:31 +00:00 |
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Frank Dellaert
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198f73a05f
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Insert conditionals straight into the topless bayesTree
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2009-11-22 18:40:55 +00:00 |
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Frank Dellaert
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32db0595f4
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using removeTop now
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2009-11-22 18:27:14 +00:00 |
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Frank Dellaert
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952798e751
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fixed orphans bug
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2009-11-22 18:22:17 +00:00 |
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Frank Dellaert
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9da2f16f4d
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Removed copy/paste in unit tests
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2009-11-22 18:12:29 +00:00 |
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Frank Dellaert
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d4aaa5d114
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Added two more removePath tests and fixed bug in removeTop. But orphan list is still incorrect.
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2009-11-22 18:06:28 +00:00 |
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Michael Kaess
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45292f7bd6
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Cliques implemented; unit test on orphans for removePath; bug fix in removePath/orphans
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2009-11-22 17:40:24 +00:00 |
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Frank Dellaert
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53754ccbb8
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removeTop with one factor implemented and one test works (orphans not yet checked)
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2009-11-22 17:34:59 +00:00 |
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Frank Dellaert
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6f11c0803b
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Cliques class
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2009-11-22 16:46:29 +00:00 |
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Frank Dellaert
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7ce62f1626
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Some template magic and boost:tie cleared up the compile issues in removePath
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2009-11-22 16:04:51 +00:00 |
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Michael Kaess
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4449cfd30c
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remove_path now also returns list of orphaned subtree roots; compile problem...
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2009-11-21 23:41:43 +00:00 |
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Frank Dellaert
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82aae3c161
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Some re-factoring (using BOOST_FOREACH to loop over string list), root is now NULL after removing root clique
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2009-11-21 21:48:10 +00:00 |
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Alex Cunningham
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1fd0404ec9
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Cleanup in testSQP, also demoed the unary constraint, as well.
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2009-11-21 19:05:24 +00:00 |
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Frank Dellaert
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00b5b25591
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Awesome recursive version of removePath
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2009-11-21 06:14:53 +00:00 |
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Frank Dellaert
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072846a70f
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moved addClique and removeClique implementations to inl.h,
removePath takes clique argument now
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2009-11-21 06:07:46 +00:00 |
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Frank Dellaert
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286d826119
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removed print
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2009-11-21 06:06:30 +00:00 |
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Frank Dellaert
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b113194e58
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While watching TV :-) added some constructors for more readable tests.
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2009-11-21 04:59:50 +00:00 |
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Frank Dellaert
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a0a250750b
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compare config
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2009-11-21 04:22:59 +00:00 |
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Michael Kaess
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0286bc27eb
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removePath mostly working
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2009-11-21 03:38:13 +00:00 |
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Alex Cunningham
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08f5b074a0
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Added verbosity selector for the SQP demo to remove printouts every time it runs
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2009-11-20 14:29:11 +00:00 |
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Frank Dellaert
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715dc4474d
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functional STL magic
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2009-11-20 14:18:26 +00:00 |
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Frank Dellaert
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d234365d53
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involves is const
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2009-11-20 14:17:52 +00:00 |
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Alex Cunningham
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5f848f272b
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SQP demo that moves maps into the correct reference frames is now working using the NonlinearConstraint machinery.
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2009-11-20 14:05:21 +00:00 |
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Frank Dellaert
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e440767db9
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Use [involves], and now updating orphan list
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2009-11-20 05:23:47 +00:00 |
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Frank Dellaert
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55e85fd8a5
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[involves] checks whether variable with that key is involved in any factor
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2009-11-20 05:14:34 +00:00 |
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Alex Cunningham
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6aba2f1c1c
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Changed initial SQP example to use exmap using the new scaling function for VectorConfig
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2009-11-20 05:13:32 +00:00 |
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Alex Cunningham
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acfe742c29
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Added a simple scaling function for VectorConfigs
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2009-11-20 05:10:55 +00:00 |
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Alex Cunningham
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714edb57f0
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Basic implementation of a binary nonlinear constraint, with working linearization of a binary constraint.
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2009-11-20 03:50:48 +00:00 |
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Alex Cunningham
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ee4a066275
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Implemented linearization and equality for unary NonlinearConstraints. Current tests use a scalar example. Split out implementation into a separate implementation file.
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2009-11-20 03:04:49 +00:00 |
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Michael Kaess
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4ca1dbf325
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generalized most of the update algorithm
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2009-11-19 23:25:03 +00:00 |
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Alex Cunningham
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429f27550c
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Added a NonlinearConstraint and testNonlinearConstraint. There is currently an abstract base class for constraints and a partially implemented unary constraint.
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2009-11-19 16:50:18 +00:00 |
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Frank Dellaert
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cd913566f2
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I now use push_back to add factors to the new factor graph, and called getOrdering to compute a colamd order. I fixed the test so it checks the right order. Unfortunately colamd is a worse ordering, and the two cliques from before are merged into one.
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2009-11-19 06:37:06 +00:00 |
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Frank Dellaert
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8d8503bd99
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constructor with three parents
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2009-11-19 06:34:28 +00:00 |
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Frank Dellaert
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b2eee54b5a
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push_back an entire factor graph
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2009-11-19 06:34:07 +00:00 |
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Frank Dellaert
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e2a3d1cb8f
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Fixed test
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2009-11-19 04:52:46 +00:00 |
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Alex Cunningham
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f98f49381a
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Added an example to testSQP to use for combining graphs
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2009-11-18 21:57:59 +00:00 |
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Alex Cunningham
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d700cd2cac
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Made some small changes to testSQP to simplify the system and improve convergence.
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2009-11-18 20:23:07 +00:00 |
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Alex Cunningham
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7fc68e2d90
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Updated testSQP to use a real SQP implementation as separate factors on the previous problem. SQP now works.
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2009-11-18 19:42:14 +00:00 |