Richard Roberts
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6e2312294c
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Added computeInformation function to GaussianFactor to properly compute information matrix including noise models, and using it to fix bug in Marginals where noise model was not being accounted for (only affects when hard constraints are used)
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2012-05-23 20:56:22 +00:00 |
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Richard Roberts
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bcfe39f4ae
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Merge remote-tracking branch 'svn/trunk' into windows
Conflicts:
gtsam/nonlinear/Marginals.h
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2012-05-23 18:55:18 +00:00 |
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Richard Roberts
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edc4ffa683
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Fixed missing copy constructor and assignment operators in Marginals
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2012-05-23 18:51:39 +00:00 |
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Richard Roberts
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510e2eacac
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More progress in compiling on windows
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2012-05-22 22:52:17 +00:00 |
Frank Dellaert
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382e3311fd
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test new key() method
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2012-05-22 17:58:50 +00:00 |
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Frank Dellaert
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9394ede66b
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Added print, moved instance variables
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2012-05-22 17:58:27 +00:00 |
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Frank Dellaert
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67892e59e0
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fixed print/headers
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2012-05-22 17:58:03 +00:00 |
Alex Cunningham
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2bd7a0ed43
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Added generic re-key function to nonlinear factor
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2012-05-21 20:54:42 +00:00 |
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Alex Cunningham
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54f6f3629c
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Added clone() functionality to nonlinear factors
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2012-05-21 20:54:40 +00:00 |
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Frank Dellaert
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00c56b0d0a
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Fixed small formatting glitches
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2012-05-20 20:32:16 +00:00 |
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Richard Roberts
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1ce95c1d89
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Removed LDL in favor of Cholesky
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2012-05-15 15:49:14 +00:00 |
Stephen Williams
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da480b45eb
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Updated license
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2012-05-15 15:28:24 +00:00 |
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Richard Roberts
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7b183d1237
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Renamed derived optimizer verbosity parameters to start with 'verbosity' to make more auto-complete friendly
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2012-05-15 13:33:32 +00:00 |
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Richard Roberts
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68467448a7
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Fixed small LM bug (solving original instead of damped system) and added unit test
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2012-05-15 13:23:43 +00:00 |
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Richard Roberts
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9e0996296a
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Added Cholesky/LDL switch in NonlinearOptimizer, preparing to remove
LDL, remove dependency of NonlinearOptimizer on linear solvers.
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2012-05-15 05:08:57 +00:00 |
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Richard Roberts
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516e1610a1
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Added joint marginals and unit tests
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2012-05-15 00:01:38 +00:00 |
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Richard Roberts
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bd76692794
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Removed inactive code
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2012-05-15 00:01:34 +00:00 |
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Stephen Williams
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754e289737
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Fixed errors in unit tests from updated NonlinearOptimizers
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2012-05-14 22:31:42 +00:00 |
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Richard Roberts
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93d1defc07
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Updated Marginals doxygen
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2012-05-14 21:33:05 +00:00 |
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Richard Roberts
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51d38f4b5d
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Added Marginals unit test and class
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2012-05-14 21:33:03 +00:00 |
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Richard Roberts
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6bd94352ca
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Removed inactive code
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2012-05-14 21:33:02 +00:00 |
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Richard Roberts
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75bd1689df
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Changes in progress
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2012-05-14 19:10:02 +00:00 |
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Richard Roberts
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88f5e3d9b6
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Merge remote-tracking branch 'svn/trunk' into NLO
Conflicts:
examples/Pose2SLAMExample_advanced.cpp
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2012-05-14 18:35:15 +00:00 |
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Richard Roberts
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5f94e477a4
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Changes in progress
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2012-05-14 18:32:54 +00:00 |
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Stephen Williams
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fdc4cc586d
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Incremental modifications to the new Nonlinear Optimizer interface.
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2012-05-14 18:11:52 +00:00 |
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Richard Roberts
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6c4bd1160a
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Changes in progress
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2012-05-14 16:51:33 +00:00 |
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Alex Cunningham
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cb017fee80
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tested and documented ability to swap factors with ISAM2
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2012-05-01 18:54:44 +00:00 |
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Richard Roberts
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6fb80c983d
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Added missing default values for detailed results
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2012-04-12 18:46:55 +00:00 |
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Richard Roberts
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792c8ee55a
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Detailed results optionally returned by ISAM2::update, with the status of each variable
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2012-04-12 03:04:32 +00:00 |
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Richard Roberts
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91e7dc5882
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Caching linearized factors in iSAM2, improves speed when linearization is expensive
Merge remote-tracking branch 'svn/branches/iSAM2_cache_linearized' into trunk
Conflicts:
.cproject
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2012-04-11 14:17:59 +00:00 |
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Richard Roberts
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ed91c5c9ff
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Tweak to dogleg evaluating error decrease
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2012-04-09 03:02:23 +00:00 |
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Richard Roberts
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45f2101f48
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Fixed deep copy in iSAM2 and added unit test to reproduce problem
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2012-04-06 18:56:07 +00:00 |
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Richard Roberts
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c83a399bba
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Continuing code simplification / restructuring
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2012-04-05 02:45:47 +00:00 |
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Richard Roberts
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48e277a095
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Added swap method to Values
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2012-04-05 02:45:45 +00:00 |
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Richard Roberts
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d0211bb031
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Simplifying code and minor restructuring to support SPCG - removed update functions so NLO is now completely immutable, moved ordering to parameters, added SuccessiveLinearizationOptimizer base class that will do direct and iterative linear solving, with derived classes for GN, LM, DL. This structure will allow us to later add a new NLO subclass for nonlinear gradient descent methods.
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2012-04-04 23:20:42 +00:00 |
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Richard Roberts
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14d20cff0b
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Bug fix when getting nonlinear error debug statistics
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2012-04-03 23:20:03 +00:00 |
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Richard Roberts
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7226f910bb
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Bug fix when relinearizing on first step in iSAM2
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2012-04-03 22:06:06 +00:00 |
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Richard Roberts
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8cd7662dab
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Removed commented code
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2012-04-02 20:43:34 +00:00 |
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Stephen Williams
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ad4ca799d8
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Added message to out-of-range exceptions
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2012-04-02 20:14:33 +00:00 |
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Stephen Williams
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36c921bb9f
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Reordered gradient calculation to improve computation performance
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2012-04-02 20:06:00 +00:00 |
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Stephen Williams
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4d9542dc70
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Fixed compile warning
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2012-04-02 20:04:43 +00:00 |
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Richard Roberts
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9366136c78
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In progress - making NLO interface less confusing / error prone with a separate "state" class. Refactoring in NLO to reduce amount of code and remove code duplication.
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2012-04-02 00:26:42 +00:00 |
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Richard Roberts
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fdb4138d10
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Started NLO state
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2012-04-01 20:22:24 +00:00 |
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Richard Roberts
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46a1fb1103
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Merge remote-tracking branch 'svn/trunk' into NLO
Conflicts:
.cproject
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2012-03-31 01:02:45 +00:00 |
|
Alex Cunningham
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5e7c28f6a7
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Reworked cmake timing generation to use generalized test-adding macro
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2012-03-29 18:57:29 +00:00 |
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Alex Cunningham
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b2bf03d21f
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Switching cmake macros to more flexible ones - now allows for manual exclusion of tests
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2012-03-29 18:57:27 +00:00 |
|
Richard Roberts
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b07d2096c2
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Improved NLO documentation
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2012-03-28 04:53:16 +00:00 |
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Richard Roberts
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ba8fb0ba27
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iSAM2 factorization parameter to choose LDL or QR
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2012-03-27 23:30:19 +00:00 |
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Richard Roberts
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5e6a1836e9
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shared_ptr typedef
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2012-03-24 19:53:39 +00:00 |
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Richard Roberts
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daae77771b
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Changed nonlinear convergence to <= (from <)
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2012-03-24 19:53:32 +00:00 |