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Release version 4.0.2#119

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dellaert merged 210 commits intomasterborglab/gtsam:masterfrom release/4.0.2borglab/gtsam:release/4.0.2Copy head branch name to clipboardSep 19, 2019

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Commits on Jan 4, 2019

• Clear and functional

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• Use test namespace

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• Reflect name of actual Factor

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• Clean up

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Commits on Jan 6, 2019

• Added test with transform

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Commits on May 30, 2019

• Added handy NavState expressions

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• Merge pull request #32 from borglab/feature/navigation_expressions

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• Make test with hard constraints

  

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• Check exception type

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Commits on May 31, 2019

• Merge pull request #33 from borglab/feature/throwIfInfeasible

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• Add travis CI

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• fix wrong logic

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• added clickable link to optimization notes

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• improved notes on trust region methods, corrected update rule as per Hauser notes and removed old links

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• new pdf based on updated lyx file for trustregion methods

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• updated README to nicer Markdown, added links to papers for convenience, added code formatting, and updated ROS package version

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• Merge pull request #37 from borglab/feature/readme-update

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Commits on Jun 1, 2019

• Merge branch 'add-travis-ci' of https://github.com/jlblancoc/gtsam into jlblancoc-add-travis-ci

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• Merge branch 'jlblancoc-add-travis-ci' into develop

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• Ensure users do not mix up Eigen versions

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• removed shortcut notation in trust-region formula

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• removed bdsk entries from bib file

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• Merge pull request #36 from borglab/feature/trustregion-doc

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• Modernized enable_if, re-grouped methods to add factors

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• New add_factors method

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• Removed stale assert

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• moved gradientAtZero helper to clique class, where it belongs

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• Removed useless typedef, add empty()

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• added timing

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• made Roots type public

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• Refactored iSAM2::update to reveal what is changed when

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• Fixed print when no noise model

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• Further refactored pushNewFactors

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• Get rid of deprecated LieScalar

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• Now using add_factors

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Commits on Jun 2, 2019

• Removed unusedIndices

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• Split up relinearize again for clarity

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• Split recalculate for clarity

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• Moved recalculate back to iSAM2.cpp

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• Merge pull request #40 from borglab/feature/factor_graph_update

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• Merge pull request #28 from jlblancoc/ensure_equal_eigen_version

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• -march=native is not for MSVC

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• Nicer grouping in IDE "folders"

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• Use more direct configuration of cmake, disable unstable for gcc tests

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• Fix typo

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• Re-enabled rest of matrix

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• Install ccache on OSX and add GTSAM_BUILD_WITH_CCACHE flag to cmake

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• Another typo :-(

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• Add ccache stats

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Commits on Jun 3, 2019

• Removed brew update and gcc build on mac

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• Disable brew update

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• Merge pull request #45 from borglab/fix/travis_timeout

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• made markedKeys explicit

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• using rather than typedef

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• made gatherInvolvedKeys more explicit

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• Made detail handling more explicit in update

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• Make error calculation concise

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• Recalculate now removes top

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• Deprecated non-const reference arguments in BayesTree and iSAM.h

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• Merge remote-tracking branch 'origin/fix/Bayestree_in_out' into feature/iSAM2_refactor

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• Re-ordered functions to minimize diff

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• Merge pull request #46 from borglab/fix/Bayestree_in_out

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• Some last cosmetic changes to make update fit on single screen

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• Merge remote-tracking branch 'origin/develop' into feature/iSAM2_refactor

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Commits on Jun 4, 2019

• Merge pull request #42 from borglab/feature/iSAM2_refactor

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• Merge pull request #44 from borglab/minor_msvc_fixes

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• Fixed a number of deprecated instances....

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• Deprecated OFF by default, one new clang run for deprecated ON

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• Merge pull request #47 from borglab/fix/bayesTree

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• wrap printErrors

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Commits on Jun 5, 2019

• Merge pull request #48 from borglab/feature/wrap_printErrorrs

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Commits on Jun 6, 2019

• Updated build status link

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• Travis stages

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• Full matrix, including OSX

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• Add OSX to compile

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Commits on Jun 7, 2019

• Merge pull request #49 from borglab/feature/stage_travis

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Commits on Jun 9, 2019

• Global env variables

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Commits on Jun 10, 2019

• provide

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• Always run in debug mode

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• add command make check_valgrind

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• Removed redundant flags.

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• Test both Debug and Release

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• Add Debug/Release in compile stage as well

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Commits on Jun 11, 2019

• Merge pull request #56 from borglab/feature/travis_global

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• targets renamed: xxx.valgrind

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• re-indent: script had an inconsistent mix of tabs and spaces

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• Merge pull request #52 from jlblancoc/add_uninstall

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• Merge pull request #54 from jlblancoc/add_make_check_valgrind

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• Fixed exception type for TBB path

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• added inline keywords to new functions introduced in PR #32

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• Merge pull request #60 from borglab/feature/inline-navigation-expressions

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• Merge pull request #59 from borglab/fix/41_tbb_issue

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Commits on Jun 12, 2019

• Fix for issue #38 (gcc specific issue, but fix works for all)

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• Fix file handling (removed absolute paths)

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• Duplicate measurements are disallowed -> leads to duplicate keys in JacobianFactor

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• Tightened odometry sigmas to avoid ILS

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• Use command line argument for script so that cache names are not polluted by environment variables. This should allow ccache to use caches from build stage for testing stage.

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• exclude clang on linux

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• Fix syntax error, add comment mentioning issue #57

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• Reduced time to run very slow testScenario by reducing sample count for estimating covariance.

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• Reduced time for ImuFactor tests

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• Fixed warning

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• Turned off timing

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• Unstable will not be built or tested in Debug mode: takes too long.

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• Merge pull request #61 from borglab/fix/travis_cache

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• fix warning

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• Merge remote-tracking branch 'origin/develop' into fix/38_SmartRangeExamples-2

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Commits on Jun 13, 2019

• Merge pull request #64 from borglab/fix/38_SmartRangeExamples-2

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• remove old, obsolete files

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• typecast to size_t to remove build warnings

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• make all top level docs as markdown files

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• renamed all READMEs to README.md and updated markdown syntax

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• added blank github issue template

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Commits on Jun 14, 2019

• print key_values in order

  

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• github issue templates conforming to new workflow

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• moved templates from .github to .github/ISSUE_TEMPLATE

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• overload operator <<, and add unittest

  

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• Streaming Key values with a custom formatter

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• Streaming for Symbols

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• Streaming for LabeledSymbols

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• fix issues according to pr comments

  

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• use map::emplace instead of insert

  

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• delete make_pair

  

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Commits on Jun 15, 2019

• Missing DLL export macros

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• cmake: fix unset variable for MSVC

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• T made non-const for MSVC2017 to build

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• Add better error reporting

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• Excluded build that consistently times out

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• Merge pull request #71 from borglab/feature/wrap_errors

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• Merge pull request #67 from borglab/feature/housekeeping

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• Restored default deltaInit to 1.0 to resolve issue #9

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• Merge pull request #72 from borglab/fix/9_dogleg_initial_delta

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• Merge pull request #70 from jlblancoc/fix_msvc

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• fix unused parameter warning

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• Refactor build flags via CMake target properties

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• Merge pull request #69 from borglab/feature/streaming_keys

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Commits on Jun 16, 2019

• fix cmake warning

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• Merge pull request #65 from jlblancoc/new_cmake_flags_v2

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• move cout string to print function

  

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• Merge branch 'develop' into feature/VectorValuePrint

  

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• use key_formatter in print function

  

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• Merge pull request #68 from borglab/feature/VectorValuePrint

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Commits on Jun 17, 2019

• Main CMakeLists.txt edit

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• GtsamCythonWrap.cmake update

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• install gtsam_eigency to the correct cython directory

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• update to setup.py install check to account for build type

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• [ci skip] Added free function to check if compiled library is debug version or not

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• [ci skip] added comment and formatting for isDebugVersion

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Commits on Jun 18, 2019

• Merge pull request #63 from borglab/feature/cython-wrapper-release-mode

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Commits on Jun 20, 2019

• Fix more CMake errors for MSVC builds

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Commits on Jun 21, 2019

• Merge pull request #77 from borglab/fix/more-cmake-msvc-errors

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Commits on Jun 22, 2019

• Allow Eigen versions of different patch number

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Commits on Jun 24, 2019

• Merge pull request #79 from borglab/less-strict-eigen-version-check

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Commits on Jul 10, 2019

• propagate exceptions from global functions from cpp to python

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• updated tests to work with new wrap code generation

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• add minimal cmake-based user project template

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• add Debian scripts

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Commits on Jul 11, 2019

• Changes to get gtsam to compile in Windows

  

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• undo whitespace changes

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• Undo changes in CalibratedCamera

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• Add NOMINMAX macro for MSVC via cmake

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• Merge pull request #83 from borglab/feature/py-exceptions

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• fix cmake error with MATLAB

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Commits on Jul 12, 2019

• Partial fix to MSVC Matlab builds

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Commits on Jul 13, 2019

• Resolved several MSVC compiling errors

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Commits on Jul 14, 2019

• Revert "Resolved several MSVC compiling errors" -- bring back Lie*

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• Fixed compilation issues for MSVC -- for real this time.

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• More GTSAM_EXPORT fixes. This allows gtsam_unstable to compile

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• Merge pull request #78 from jlblancoc/debian-ppa

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• Added document explaining GTSAM_EXPORT usage rules

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• Reducing errors in check* libraries when compiling

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• Updated Using GTSAM_EXPORT document

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• Merge pull request #87 from cntaylor/msvc-fixes

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• Consistent dllexport.h across gtsam & gtsam_unstable

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• more DLL warnings & errors fixed

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Commits on Jul 19, 2019

• Merge pull request #85 from borglab/msvc-fixes

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Commits on Jul 28, 2019

• Added non-default const. for AHRS pre-int. and params

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Commits on Jul 30, 2019

• Remove redundant gyroCov param update in ctor

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• Use const& for input param

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• Remove outdated comment

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• Rename test_pim to actualPim

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Commits on Jul 31, 2019

• Merge pull request #93 from sandro-berchier/feature/pim_to_ahrs

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• cosmic distro is obsolete now

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Commits on Aug 7, 2019

• Merge branch 'develop' into fix/smartFactors

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• Fixed warning

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Commits on Aug 8, 2019

• Made code a bit more efficient in case of offset

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• deprecated SmartProjectionFactor constructor with offset

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Commits on Aug 14, 2019

• Generate PPA packages for Ubuntu 19.10 (eoan)

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Commits on Aug 27, 2019

• Merge pull request #105 from borglab/fix/smartFactors

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Commits on Aug 29, 2019

• Fixed spelling for Welsch and added to gtsam.h

  

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• Added Welsch model to gtsam.h

  

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Commits on Sep 2, 2019

• Added old code back wrapped in deprecated flag

  

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Commits on Sep 6, 2019

• Fix missing "t" typo

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Commits on Sep 7, 2019

• Merge pull request #109 from jlblancoc/develop

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• Fix compilation of PartialPriorFactor

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• Fix segfault in SubgraphBuilder

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• Merge pull request #107 from fishyai/welsch_model

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• Restoring the correct behavior of UniqueSampler

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Commits on Sep 8, 2019

• Merge pull request #110 from borglab/fix/subgraphbuilder

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Commits on Sep 12, 2019

• add cmake flag to include eigen-unsupported module

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• Switched default to OFF

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Commits on Sep 16, 2019

• update to README to include link to READMEs of MATLAB and Python wrappers

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Commits on Sep 18, 2019

• Merge pull request #113 from borglab/features/docs-update

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• replaced fabs with c++11 std::abs

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• added test for negative error in Huber Robust noise model

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• compare absolute value of error against k for Huber noise model

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Commits on Sep 19, 2019

• improved code for Huber robust noise model

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• Merge pull request #112 from borglab/fix/eigen-unsupported

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• Merge pull request #115 from borglab/fix/absolute-value

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• Merge pull request #116 from borglab/fix/huber-noise-model

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