Frank Dellaert
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046da246ba
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RotateFactor now takes full rotations, old one that takes directions is RotateDirectionsFactor (in same header)
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20421 898a188c-9671-0410-8e00-e3fd810bbb7f
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2013-12-21 18:30:47 -05:00 |
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Frank Dellaert
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9636ace3bb
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Added more rodriguez variants -- although some should be deprecated (e.g., Point and Vector versions, for which it is possible to give incorrect input)
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20419 898a188c-9671-0410-8e00-e3fd810bbb7f
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2013-12-21 18:30:47 -05:00 |
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Frank Dellaert
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dd447f2c6c
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Moved all common methods in new file Rot3.cpp
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20416 898a188c-9671-0410-8e00-e3fd810bbb7f
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2013-12-21 18:30:46 -05:00 |
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Frank Dellaert
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d109c981ed
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Moved rotate(Rot3,Sphere2) to Rot3, makes more sense
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20415 898a188c-9671-0410-8e00-e3fd810bbb7f
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2013-12-21 18:30:46 -05:00 |
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Frank Dellaert
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848f992b98
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fixed two tests that did not pass with Quaternions
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20414 898a188c-9671-0410-8e00-e3fd810bbb7f
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2013-12-21 18:30:46 -05:00 |
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Frank Dellaert
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3984fa6dec
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Fixed compile error
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20413 898a188c-9671-0410-8e00-e3fd810bbb7f
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2013-12-21 18:30:45 -05:00 |
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Frank Dellaert
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41859a41a3
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Small change and comment, removed debug output
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20412 898a188c-9671-0410-8e00-e3fd810bbb7f
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2013-12-21 18:30:45 -05:00 |
Duy-Nguyen Ta
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6cede01c79
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hack EssentialMatrix transform_to Jacobian
git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20411 898a188c-9671-0410-8e00-e3fd810bbb7f
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2013-12-21 18:30:44 -05:00 |
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Frank Dellaert
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f93b6829cc
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Made the code a bit more readable
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2013-12-19 17:13:38 +00:00 |
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Frank Dellaert
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197a3efef9
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transform_to, but with bug in Jacobains...
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2013-12-19 04:07:20 +00:00 |
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Frank Dellaert
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e5d7e3ce8a
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point3
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2013-12-19 04:05:13 +00:00 |
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Frank Dellaert
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a1ed6919b4
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removed un-needed stuff
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2013-12-18 20:48:34 +00:00 |
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Frank Dellaert
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da5d9949e8
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5 point example now written BAL file and read by test (so Jing can use it in ransac)
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2013-12-18 20:39:56 +00:00 |
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Frank Dellaert
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51f2ba2c7e
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RotateFactor can help calibrate a rig *without* SLAM. Relevant math added to math.lyx
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2013-12-18 04:45:34 +00:00 |
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Frank Dellaert
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e0c0cb751e
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error is a signed, vector-valued error signal
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2013-12-18 04:07:33 +00:00 |
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Frank Dellaert
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e69fbbb925
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new constructor, getBasis->basis, rotate and distance
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2013-12-18 03:11:58 +00:00 |
Richard Roberts
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a63352d7cd
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Additional fix in MKL specialization
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2013-12-17 23:34:27 +00:00 |
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Frank Dellaert
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8688fc85d0
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MATLAB wrapping and Monocular VO example
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2013-12-17 16:18:31 +00:00 |
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Frank Dellaert
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8b9d6b78dc
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Optimization on the Essential manifold !
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2013-12-17 05:54:29 +00:00 |
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Frank Dellaert
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f8d2c93303
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EssentialMatrix class (moved from testEssentialMatrix.cpp)
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2013-12-17 05:34:24 +00:00 |
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Frank Dellaert
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6459053cf9
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Unit test for essential matrix with prototype code, and lyx file with derivatives
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2013-12-17 05:24:12 +00:00 |
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Frank Dellaert
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b4139842a1
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skew method, minor things
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2013-12-17 05:22:36 +00:00 |
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Frank Dellaert
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99b5edf89e
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Comments
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2013-12-17 02:19:50 +00:00 |
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Frank Dellaert
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252784b449
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Removed pointer output argument, used safe Matrix initializer
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2013-12-17 02:02:43 +00:00 |
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Frank Dellaert
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179f17eb1e
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Comments, unprintable characters
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2013-12-17 01:57:31 +00:00 |
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Frank Dellaert
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8256a6a5d2
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Some modernization
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2013-12-17 01:52:37 +00:00 |
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Frank Dellaert
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7e8095c2ee
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Revived Sphere2, the S^2 manifold that can be used for directions in 3D space
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2013-12-17 01:40:48 +00:00 |
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Richard Roberts
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92f822af28
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Fixed incorrect return type on FactorGraph::add
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2013-12-16 22:28:03 +00:00 |
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Richard Roberts
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655f9eddb7
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Fixed unit tests for built-in comma initiailizer
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2013-12-16 21:55:33 +00:00 |
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Richard Roberts
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880d9a8e3c
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Switched to new Eigen built-in special comma initializer
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2013-12-16 21:33:12 +00:00 |
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Richard Roberts
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b88dcfe32b
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Modified Eigen CommaInitializer with our expression patch
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2013-12-16 21:32:56 +00:00 |
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Richard Roberts
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f664df729c
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Updated to new wrap functions in gtsam cmake
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2013-12-16 21:32:55 +00:00 |
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Richard Roberts
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f7abc53c7a
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Fixed compile error on windows
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2013-12-16 21:32:53 +00:00 |
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Richard Roberts
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af18d11df6
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Fixes for multiple-project builds where GTSAM is a subdirectory in a larger build
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2013-12-15 18:36:44 +00:00 |
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Frank Dellaert
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597d617808
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removed checking const variable each time and created appropriate Eliminate function in constructor instead.
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2013-12-10 05:52:38 +00:00 |
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Frank Dellaert
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4815f9cf5b
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Drastically simplified solve
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2013-12-10 05:32:13 +00:00 |
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Frank Dellaert
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f2da19e4de
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Comments and formatting, and much cleaner solve
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2013-12-10 05:23:28 +00:00 |
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Duy-Nguyen Ta
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72a1feca2c
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add KeyGroupMap to wrap ISAM2 update with group ordering to matlab. Wrap at() in SymbolicBayesNet, and GaussianConditional constructors with no noise model.
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2013-12-04 14:36:13 +00:00 |
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Richard Roberts
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737e3806bb
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Fixed more warnings
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2013-12-03 19:46:40 +00:00 |
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Richard Roberts
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3da894b152
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Fixed warning
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2013-12-03 16:30:23 +00:00 |
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Richard Roberts
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a2a5eef62e
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Fixed unit test name
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2013-12-02 19:30:04 +00:00 |
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Richard Roberts
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0874a81896
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Using Alex's ordering in new clique finding unit test
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2013-12-02 19:29:24 +00:00 |
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Richard Roberts
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85bbcf6d1e
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Added EliminationTree and clique-finding unit tests using Alex's DDF test graph
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2013-12-02 18:44:44 +00:00 |
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Richard Roberts
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41ce6cdfba
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Undid automatic formatting changes in Eigen
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2013-11-27 21:51:37 +00:00 |
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Richard Roberts
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3f92ebb0d5
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Fixed compile problems and warnings on linux
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2013-11-27 21:46:06 +00:00 |
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Richard Roberts
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9b8004d780
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Using struct specialization to select MKL Householder QR in Eigen
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2013-11-27 20:55:53 +00:00 |
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Richard Roberts
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513b5fd8d6
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Removed ifdef around householder QR
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2013-11-27 20:55:50 +00:00 |
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Richard Roberts
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5f87cbea7f
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New SymmetricBlockMatrix interface - should be safer as all exposed functions use symmetric matrix expressions and the internal uninitialized values below the diagonal are never exposed.
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2013-11-26 23:49:53 +00:00 |
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Richard Roberts
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21297238ba
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Removed unused code instead of leaving it commented out...
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2013-11-26 22:50:54 +00:00 |
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Richard Roberts
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fa0a9ae88c
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Fixed warnings
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2013-11-26 22:50:50 +00:00 |