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Improve sparseJacobianEigen()#682

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gchenfc merged 16 commits intodevelopborglab/gtsam:developfrom feature/sparseJacobian3borglab/gtsam:feature/sparseJacobian3Copy head branch name to clipboardJan 28, 2021

+92-127

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Commits on Jan 19, 2021

• timing sparse eigen

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  77c65f8

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• minor efficiency modifications

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• add generic optional parameters to sparseJacobian

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Commits on Jan 20, 2021

• more generic sparseJacobianInPlace function

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• eliminate copy/pasta from SparseEigen with generic version of sparseJacobian

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• populate sparse matrix with insert rather than setFromTriplets

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• move SparseMatrixBoostTriplets typedef to gfg

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• remove templating while maintaining efficiency

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• revert Matrix.h

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• formatting

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Commits on Jan 27, 2021

• remove unnecessary function overloads and typedefs

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• remove InPlace jacobian from .h file

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• fix comment and remove whitespace diff

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• disambiguate double template >>

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• replace sparseJacobian with "fast" version

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• auto and reserve fewer

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