Alex Cunningham
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4865f1a64d
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Added more serialization functionality to noiseModel, but SharedGaussians segfault on test, so tests for Nonlinear graphs are commented out
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2011-02-23 05:19:07 +00:00 |
Chris Beall
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f7e30a5d52
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added missing include
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2011-02-22 00:32:26 +00:00 |
Richard Roberts
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1c27b1021f
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Removed incorrect dynamic_pointer_cast that caused a compile error for non-virtual derived factors.
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2011-02-18 22:10:21 +00:00 |
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Alex Cunningham
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299ce59c61
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Used Boost.MPL to make the char value from a TypedSymbol available as a type to templated functions/classes
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2011-02-18 19:57:19 +00:00 |
Julian Straub
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02fe443b44
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fixed bug when reorder/relinearize is called with no factors
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2011-02-16 22:59:09 +00:00 |
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Alex Cunningham
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ff0cb3eafb
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Added convenience constructor for Rot3
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2011-02-16 13:34:36 +00:00 |
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Richard Roberts
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7212d65d8c
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Updated BayesNet documentation.
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2011-02-15 17:45:07 +00:00 |
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Richard Roberts
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62b3db9535
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Documentation for FactorBase, ConditionalBase, IndexFactor, IndexConditional
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2011-02-15 16:22:35 +00:00 |
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Richard Roberts
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09f25edcbb
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Fixed warnings, comments, and removed redundant debug code in Cholesky
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2011-02-15 15:21:09 +00:00 |
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Alex Cunningham
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a5e14f2c47
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Changed default solver to use QR instead of Cholesky
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2011-02-15 14:07:20 +00:00 |
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Richard Roberts
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b0c5173bcf
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Debug flags unit test and fixed macros
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2011-02-15 00:36:29 +00:00 |
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Richard Roberts
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71007d4550
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Debugging switches in timing statements, and additional timing statements
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2011-02-14 17:02:50 +00:00 |
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Alex Cunningham
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be6bec2630
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fixed constness bug in NonlinearISAM marginals
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2011-02-12 18:08:21 +00:00 |
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Alex Cunningham
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61d3d30f3b
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Added a marginalCovariance function directly to NonlinearISAM
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2011-02-11 22:23:42 +00:00 |
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Alex Cunningham
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d8f05f78ff
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Added marginal function to GaussianISAM, renamed and added comments to bayes tree
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2011-02-11 22:08:07 +00:00 |
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Alex Cunningham
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9f4661544f
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VariableIndex is now constructed at the creation of a NonlinearOptimizer and passed in at solver creation.
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2011-02-10 16:51:56 +00:00 |
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Alex Cunningham
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7407843214
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Reworked nonlinear optimizer so that it only uses a solver member variable if you are using spcg. SPCG may be broken at this point, and its member variable will be removed soon.
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2011-02-10 16:01:29 +00:00 |
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Alex Cunningham
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06b08c6f85
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Fixed bug with shared solvers in recursive LM nonlinear optimizer
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2011-02-10 16:01:28 +00:00 |
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Richard Roberts
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7404f78bc1
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Added "FastVector", an std::vector using a boost pool_allocator
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2011-02-10 01:52:01 +00:00 |
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Richard Roberts
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312867ed41
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Timing previously-hidden cost of constructing VariableIndex in JunctionTree
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2011-02-09 16:22:56 +00:00 |
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Richard Roberts
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010c9b3b1c
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Extra assertion
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2011-02-08 18:25:20 +00:00 |
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Richard Roberts
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5b3000fe0a
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More use of FastList, FastSet
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2011-02-08 01:36:51 +00:00 |
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Richard Roberts
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12664813d4
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Avoiding extra work of converting from JacobianFactor to HessianFactor, instead updating HessianFactor directly
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2011-02-07 22:30:31 +00:00 |
John Rogers
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8e27acf27a
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Removing some typename keywords which are not allowed on my compiler g++ 4.4.5
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2011-02-07 17:47:56 +00:00 |
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John Rogers
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190a612086
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Temporarily overriding the FastMap use in LieValues so that LieValues can be serialized properly
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2011-02-07 17:12:53 +00:00 |
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Richard Roberts
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06db4ac770
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Optimized version of symbolic elimination
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2011-02-07 16:39:37 +00:00 |
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John Rogers
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5abe56aaab
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Changed serialization of FastMap to correctly chain the base Map class serialization included with boost::serialization
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2011-02-07 16:23:06 +00:00 |
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Richard Roberts
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fff86f98b5
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Optimizations converting JacobianFactor to HessianFactor (i.e. forming A^T * A)
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2011-02-07 06:09:16 +00:00 |
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Richard Roberts
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cd27192ade
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Indented timing printout
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2011-02-07 06:08:14 +00:00 |
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Richard Roberts
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0339a33de0
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Using Eigen to combine HessianFactors
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2011-02-07 02:49:58 +00:00 |
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Richard Roberts
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ab3dd665a5
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Min/max times are now per time step, not per timing function call, to help identify the cause for costly steps. tictoc_finishedIteration() signals the end of a time step.
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2011-02-06 20:38:51 +00:00 |
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Richard Roberts
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0648605f2f
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Dense Cholesky solving now uses Eigen
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2011-02-06 19:42:15 +00:00 |
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Alex Cunningham
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719e851643
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Added a functional version of LM optimization for comparison
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2011-02-06 04:13:32 +00:00 |
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Richard Roberts
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ea2f0e10e1
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Improved timing statements
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2011-02-04 22:31:12 +00:00 |
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John Rogers
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8bec3821df
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Added serialization support for FastMap so that LieValues can be serialized.
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2011-02-04 20:48:16 +00:00 |
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Alex Cunningham
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251d83b41a
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Disabled unit test for serialization of Values, as FastMap does not have serialization
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2011-02-04 05:45:42 +00:00 |
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Richard Roberts
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24b5ab7439
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Back to using FastList
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2011-02-04 04:52:22 +00:00 |
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Richard Roberts
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bdbc09ba42
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Added GaussianFactorGraph::sparseJacobian function to create a sparse Jacobian matrix suitable for Matlab
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2011-02-04 03:56:47 +00:00 |
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Alex Cunningham
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900227234f
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added an accessor for the nonlinear graph in NonlinearOptimizer
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2011-02-04 03:39:45 +00:00 |
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Alex Cunningham
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752e812895
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Fixed a bug in the expm function that assumed a fixed matrix size
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2011-02-04 03:32:39 +00:00 |
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Richard Roberts
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78b0fa054c
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Properly handling zero range in Pose2::bearing, Pose2::range, and Rot2::relativeBearing. Also debugging check for normalized matrix in Pose2::between
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2011-02-04 03:32:27 +00:00 |
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Richard Roberts
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62f716002a
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Further cleanup of fast_pool_allocator
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2011-02-04 03:10:29 +00:00 |
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Richard Roberts
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31ffd3877f
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Cleaned up use of fast_pool_allocator to gtsam::FastMap, List, and Set instead
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2011-02-04 02:56:12 +00:00 |
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Richard Roberts
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7dac32c53b
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Fix in debugging code
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2011-02-04 02:46:23 +00:00 |
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Richard Roberts
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b73af0159d
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Adding debugging code from branch in case problems reoccur, will clean this out in the future because it makes the code ugly
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2011-02-04 02:40:23 +00:00 |
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Richard Roberts
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a67d974254
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Only check for non-finite values when debugging
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2011-02-04 02:38:55 +00:00 |
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Richard Roberts
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a208515055
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Made zero thresholds in Cholesky smaller to fix failing unit test
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2011-02-04 02:38:35 +00:00 |
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Richard Roberts
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689adead55
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Using granular debugging flags, fixed code comment
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2011-02-04 02:36:14 +00:00 |
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Richard Roberts
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161058e402
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Added debug check for non-finite values and replace memset with std::fill
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2011-02-04 02:34:03 +00:00 |
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Richard Roberts
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f89262bd13
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Option to use careful Cholesky instead of lapack Cholesky, more debug checks in Cholesky, and addional use of ublas instead of regular blas.
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2011-02-04 01:05:52 +00:00 |