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Dmitriy Korchemkin e6b2f532b4 Parallelize PSE preconditioner 
Parallelization of remaining block-diagonal matrix-vector product and
vector operations makes parallel execution slightly faster

Before (Intel 8176 CPU, 10 iterations):
-----------------------------------------------------------------------
Benchmark                                                          Time
-----------------------------------------------------------------------
PSEPreconditioner...<problem-13682-4456117-pre.txt>/1_median   26677 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/1_stddev    26.6 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/2_median   31037 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/2_stddev     191 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/4_median   16915 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/4_stddev    98.0 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/8_median    9175 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/8_stddev    44.1 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/16_median   4974 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/16_stddev   11.5 ms

After:
-----------------------------------------------------------------------
Benchmark                                                          Time
-----------------------------------------------------------------------
PSEPreconditioner...<problem-13682-4456117-pre.txt>/1_median   26609 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/1_stddev    69.4 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/2_median   29178 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/2_stddev     367 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/4_median   16152 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/4_stddev     106 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/8_median    8773 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/8_stddev    41.5 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/16_median   4800 ms
PSEPreconditioner...<problem-13682-4456117-pre.txt>/16_stddev   14.7 ms

Change-Id: Ib1d1b0c4edf9c556a9e996c49486d2726efcc558
2023-09-28 21:11:26 +00:00
..
autodiff_benchmarks
ClangFormat cleanup via scripts/all_format.sh
2022-03-12 16:25:45 -08:00
benchmarks
…
generated
Preparing for 2.2.0rc1
2023-09-21 11:23:38 -07:00
generated_bundle_adjustment_tests
Add end-to-end BA tests for SCHUR_POWER_SERIES_EXPANSION
2023-09-28 09:51:04 -07:00
gmock
Update the included gtest to version 1.11.0
2022-03-20 14:34:12 +00:00
gtest
Update the included gtest to version 1.11.0
2022-03-20 14:34:12 +00:00
miniglog/glog
Fix MSVC compilation errors
2022-02-27 13:24:42 +01:00
accelerate_sparse.cc
Preparing for 2.2.0rc1
2023-09-21 11:23:38 -07:00
accelerate_sparse.h
Preparing for 2.2.0rc1
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array_selector_test.cc
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array_utils_test.cc
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array_utils.cc
Preparing for 2.2.0rc1
2023-09-21 11:23:38 -07:00
array_utils.h
Fixed GCC 13.1 compilation errors
2023-06-10 17:37:51 +02:00
autodiff_cost_function_test.cc
Preparing for 2.2.0rc1
2023-09-21 11:23:38 -07:00
autodiff_first_order_function_test.cc
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autodiff_manifold_test.cc
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autodiff_test.cc
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block_evaluate_preparer.cc
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block_evaluate_preparer.h
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block_jacobi_preconditioner_benchmark.cc
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block_jacobi_preconditioner_test.cc
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block_jacobi_preconditioner.cc
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block_jacobi_preconditioner.h
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block_jacobian_writer.cc
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block_jacobian_writer.h
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block_random_access_dense_matrix_test.cc
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block_random_access_dense_matrix.cc
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block_random_access_dense_matrix.h
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block_random_access_diagonal_matrix_test.cc
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block_random_access_diagonal_matrix.cc
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block_random_access_diagonal_matrix.h
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block_random_access_matrix.cc
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block_random_access_matrix.h
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block_random_access_sparse_matrix_test.cc
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block_random_access_sparse_matrix.cc
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block_random_access_sparse_matrix.h
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block_sparse_matrix_test.cc
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block_sparse_matrix.cc
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block_sparse_matrix.h
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block_structure.cc
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block_structure.h
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bundle_adjustment_test_util.h
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c_api_test.cc
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c_api.cc
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callbacks.cc
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callbacks.h
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canonical_views_clustering_test.cc
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canonical_views_clustering.cc
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canonical_views_clustering.h
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casts.h
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cgnr_solver.cc
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cgnr_solver.h
Preparing for 2.2.0rc1
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CMakeLists.txt
Add a missing include dir to the cuda kernels target.
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compressed_col_sparse_matrix_utils_test.cc
Preparing for 2.2.0rc1
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compressed_col_sparse_matrix_utils.cc
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compressed_col_sparse_matrix_utils.h
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compressed_row_jacobian_writer.cc
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compressed_row_jacobian_writer.h
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compressed_row_sparse_matrix_test.cc
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compressed_row_sparse_matrix.cc
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compressed_row_sparse_matrix.h
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concurrent_queue_test.cc
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concurrent_queue.h
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conditioned_cost_function_test.cc
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conditioned_cost_function.cc
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conjugate_gradients_solver_test.cc
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conjugate_gradients_solver.h
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context_impl.cc
Runtime check for cudaMallocAsync support
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context_impl.h
Runtime check for cudaMallocAsync support
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context.cc
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coordinate_descent_minimizer.cc
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coordinate_descent_minimizer.h
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corrector_test.cc
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corrector.cc
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corrector.h
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cost_function_to_functor_test.cc
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cost_function.cc
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covariance_impl.cc
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covariance_impl.h
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covariance_test.cc
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covariance.cc
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cubic_interpolation_test.cc
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cuda_block_sparse_crs_view_test.cc
Preparing for 2.2.0rc1
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cuda_block_sparse_crs_view.cc
Runtime check for cudaMallocAsync support
2023-09-22 19:25:25 +00:00
cuda_block_sparse_crs_view.h
Update CudaSparseMatrix class
2023-08-31 18:56:44 +00:00
cuda_block_structure_test.cc
Preparing for 2.2.0rc1
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cuda_block_structure.cc
CUDA partitioned matrix view
2023-07-14 18:12:20 +00:00
cuda_block_structure.h
CUDA partitioned matrix view
2023-07-14 18:12:20 +00:00
cuda_buffer.h
Preparing for 2.2.0rc1
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cuda_dense_cholesky_test.cc
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cuda_dense_qr_test.cc
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cuda_kernels_bsm_to_crs.cu.cc
Runtime check for cudaMallocAsync support
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cuda_kernels_bsm_to_crs.h
Runtime check for cudaMallocAsync support
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cuda_kernels_utils.h
Preparing for 2.2.0rc1
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cuda_kernels_vector_ops_test.cc
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cuda_kernels_vector_ops.cu.cc
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cuda_kernels_vector_ops.h
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cuda_partitioned_block_sparse_crs_view_test.cc
Update CudaSparseMatrix class
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cuda_partitioned_block_sparse_crs_view.cc
Runtime check for cudaMallocAsync support
2023-09-22 19:25:25 +00:00
cuda_partitioned_block_sparse_crs_view.h
CUDA partitioned matrix view
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cuda_sparse_matrix_test.cc
Preparing for 2.2.0rc1
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cuda_sparse_matrix.cc
Remove an unused variable from CudaSparseMatrix
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cuda_sparse_matrix.h
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cuda_streamed_buffer_test.cc
Permutation-based conversion from block-sparse to crs
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cuda_streamed_buffer.h
Permutation-based conversion from block-sparse to crs
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cuda_vector_test.cc
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cuda_vector.cc
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cuda_vector.h
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dense_cholesky_test.cc
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dense_cholesky.cc
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dense_cholesky.h
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dense_jacobian_writer.h
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dense_linear_solver_benchmark.cc
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dense_linear_solver_test.cc
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dense_normal_cholesky_solver.cc
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dense_normal_cholesky_solver.h
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dense_qr_solver.cc
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dense_qr_solver.h
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dense_qr_test.cc
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dense_qr.cc
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dense_qr.h
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dense_sparse_matrix_test.cc
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dense_sparse_matrix.cc
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dense_sparse_matrix.h
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detect_structure_test.cc
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detect_structure.cc
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detect_structure.h
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dogleg_strategy_test.cc
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dogleg_strategy.cc
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dogleg_strategy.h
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dynamic_autodiff_cost_function_test.cc
Provide DynamicAutoDiffCostFunction deduction guide
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dynamic_compressed_row_finalizer.h
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dynamic_compressed_row_jacobian_writer.cc
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dynamic_compressed_row_jacobian_writer.h
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dynamic_compressed_row_sparse_matrix_test.cc
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dynamic_compressed_row_sparse_matrix.cc
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dynamic_compressed_row_sparse_matrix.h
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dynamic_numeric_diff_cost_function_test.cc
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dynamic_sparse_normal_cholesky_solver_test.cc
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dynamic_sparse_normal_cholesky_solver.cc
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dynamic_sparse_normal_cholesky_solver.h
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dynamic_sparsity_test.cc
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eigen_vector_ops.h
Parallelize PSE preconditioner
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eigensparse.cc
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eigensparse.h
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evaluation_benchmark.cc
Parallelize PSE preconditioner
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evaluation_callback_test.cc
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evaluation_callback.cc
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evaluator_test_utils.cc
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evaluator_test_utils.h
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evaluator_test.cc
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evaluator.cc
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evaluator.h
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execution_summary.h
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fake_bundle_adjustment_jacobian.cc
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fake_bundle_adjustment_jacobian.h
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file.cc
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file.h
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first_order_function.cc
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fixed_array_test.cc
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float_suitesparse.cc
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float_suitesparse.h
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function_sample.cc
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function_sample.h
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generate_bundle_adjustment_tests.py
Add end-to-end BA tests for SCHUR_POWER_SERIES_EXPANSION
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generate_template_specializations.py
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gmock_gtest_all.cc
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gmock_main.cc
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gradient_checker_test.cc
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gradient_checker.cc
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gradient_checking_cost_function_test.cc
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gradient_checking_cost_function.cc
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gradient_checking_cost_function.h
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gradient_problem_evaluator.h
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gradient_problem_solver_test.cc
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gradient_problem_solver.cc
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gradient_problem_test.cc
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gradient_problem.cc
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graph_algorithms_test.cc
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graph_algorithms.h
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graph_test.cc
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graph.h
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householder_vector_test.cc
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implicit_schur_complement_test.cc
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implicit_schur_complement.cc
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implicit_schur_complement.h
Preparing for 2.2.0rc1
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inner_product_computer_test.cc
Preparing for 2.2.0rc1
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inner_product_computer.cc
Preparing for 2.2.0rc1
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inner_product_computer.h
Preparing for 2.2.0rc1
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integer_sequence_algorithm_test.cc
Preparing for 2.2.0rc1
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invert_psd_matrix_benchmark.cc
Preparing for 2.2.0rc1
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invert_psd_matrix_test.cc
Preparing for 2.2.0rc1
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invert_psd_matrix.h
Preparing for 2.2.0rc1
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is_close_test.cc
Preparing for 2.2.0rc1
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is_close.cc
Preparing for 2.2.0rc1
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is_close.h
Preparing for 2.2.0rc1
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iteration_callback.cc
Preparing for 2.2.0rc1
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iterative_refiner_test.cc
Preparing for 2.2.0rc1
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iterative_refiner.cc
Preparing for 2.2.0rc1
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iterative_refiner.h
Preparing for 2.2.0rc1
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iterative_schur_complement_solver_test.cc
Preparing for 2.2.0rc1
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iterative_schur_complement_solver.cc
Parallelize PSE preconditioner
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iterative_schur_complement_solver.h
Preparing for 2.2.0rc1
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jet_operator_benchmark.cc
Preparing for 2.2.0rc1
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jet_test.cc
Preparing for 2.2.0rc1
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jet_traits_test.cc
Preparing for 2.2.0rc1
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levenberg_marquardt_strategy_test.cc
Preparing for 2.2.0rc1
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levenberg_marquardt_strategy.cc
Preparing for 2.2.0rc1
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levenberg_marquardt_strategy.h
Preparing for 2.2.0rc1
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line_search_direction.cc
Preparing for 2.2.0rc1
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line_search_direction.h
Preparing for 2.2.0rc1
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line_search_minimizer_test.cc
Preparing for 2.2.0rc1
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line_search_minimizer.cc
Preparing for 2.2.0rc1
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line_search_minimizer.h
Preparing for 2.2.0rc1
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line_search_preprocessor_test.cc
Preparing for 2.2.0rc1
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line_search_preprocessor.cc
Preparing for 2.2.0rc1
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line_search_preprocessor.h
Preparing for 2.2.0rc1
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line_search.cc
Preparing for 2.2.0rc1
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line_search.h
Preparing for 2.2.0rc1
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linear_least_squares_problems.cc
Preparing for 2.2.0rc1
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linear_least_squares_problems.h
Preparing for 2.2.0rc1
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linear_operator.cc
Preparing for 2.2.0rc1
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linear_operator.h
Preparing for 2.2.0rc1
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linear_solver.cc
Preparing for 2.2.0rc1
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linear_solver.h
Preparing for 2.2.0rc1
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loss_function_test.cc
Preparing for 2.2.0rc1
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loss_function.cc
Preparing for 2.2.0rc1
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low_rank_inverse_hessian.cc
Preparing for 2.2.0rc1
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low_rank_inverse_hessian.h
Preparing for 2.2.0rc1
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manifold_test.cc
Preparing for 2.2.0rc1
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manifold.cc
Commenting unused parameters for better readibility
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map_util.h
Preparing for 2.2.0rc1
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minimizer_test.cc
Preparing for 2.2.0rc1
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minimizer.cc
Preparing for 2.2.0rc1
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minimizer.h
Preparing for 2.2.0rc1
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normal_prior_test.cc
Preparing for 2.2.0rc1
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normal_prior.cc
Preparing for 2.2.0rc1
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numeric_diff_cost_function_test.cc
Preparing for 2.2.0rc1
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numeric_diff_first_order_function_test.cc
Preparing for 2.2.0rc1
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numeric_diff_test_utils.cc
Preparing for 2.2.0rc1
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numeric_diff_test_utils.h
Preparing for 2.2.0rc1
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ordered_groups_test.cc
Preparing for 2.2.0rc1
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pair_hash.h
Preparing for 2.2.0rc1
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parallel_for_test.cc
Preparing for 2.2.0rc1
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parallel_for.cc
Preparing for 2.2.0rc1
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parallel_for.h
Preparing for 2.2.0rc1
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parallel_invoke.cc
Reorganize ParallelFor source files
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parallel_invoke.h
Reorganize ParallelFor source files
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parallel_utils_test.cc
Preparing for 2.2.0rc1
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parallel_utils.cc
Preparing for 2.2.0rc1
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parallel_utils.h
Preparing for 2.2.0rc1
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parallel_vector_operations_benchmark.cc
Preparing for 2.2.0rc1
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parallel_vector_ops.h
Reorganize ParallelFor source files
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parameter_block_ordering_test.cc
Preparing for 2.2.0rc1
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parameter_block_ordering.cc
Preparing for 2.2.0rc1
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parameter_block_ordering.h
Preparing for 2.2.0rc1
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parameter_block_test.cc
Preparing for 2.2.0rc1
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parameter_block.h
Preparing for 2.2.0rc1
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parameter_dims_test.cc
Simplify some template metaprograms using fold expressions.
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partition_range_for_parallel_for.h
Reorganize ParallelFor source files
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partitioned_matrix_view_impl.h
Preparing for 2.2.0rc1
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partitioned_matrix_view_template.py
Preparing for 2.2.0rc1
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partitioned_matrix_view_test.cc
Preparing for 2.2.0rc1
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partitioned_matrix_view.cc
Preparing for 2.2.0rc1
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partitioned_matrix_view.h
Preparing for 2.2.0rc1
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polynomial_test.cc
Preparing for 2.2.0rc1
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polynomial.cc
Preparing for 2.2.0rc1
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polynomial.h
Preparing for 2.2.0rc1
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power_series_expansion_preconditioner_test.cc
Parallelize PSE preconditioner
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power_series_expansion_preconditioner.cc
Parallelize PSE preconditioner
2023-09-28 21:11:26 +00:00
power_series_expansion_preconditioner.h
Parallelize PSE preconditioner
2023-09-28 21:11:26 +00:00
preconditioner.cc
Preparing for 2.2.0rc1
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preconditioner.h
Parallelize PSE preconditioner
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preprocessor.cc
Preparing for 2.2.0rc1
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preprocessor.h
Preparing for 2.2.0rc1
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problem_impl.cc
Preparing for 2.2.0rc1
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problem_impl.h
Preparing for 2.2.0rc1
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problem_test.cc
Preparing for 2.2.0rc1
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problem.cc
Preparing for 2.2.0rc1
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program_evaluator.h
Preparing for 2.2.0rc1
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program_test.cc
Preparing for 2.2.0rc1
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program.cc
Preparing for 2.2.0rc1
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program.h
Preparing for 2.2.0rc1
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reorder_program_test.cc
Preparing for 2.2.0rc1
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reorder_program.cc
Preparing for 2.2.0rc1
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reorder_program.h
Preparing for 2.2.0rc1
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residual_block_test.cc
Preparing for 2.2.0rc1
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residual_block_utils_test.cc
Preparing for 2.2.0rc1
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residual_block_utils.cc
Preparing for 2.2.0rc1
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residual_block_utils.h
Preparing for 2.2.0rc1
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residual_block.cc
Preparing for 2.2.0rc1
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residual_block.h
Preparing for 2.2.0rc1
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rotation_test.cc
Implement tests for Euler conversion with jets
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schur_complement_solver_test.cc
Preparing for 2.2.0rc1
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schur_complement_solver.cc
Preparing for 2.2.0rc1
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schur_complement_solver.h
Preparing for 2.2.0rc1
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schur_eliminator_benchmark.cc
Preparing for 2.2.0rc1
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schur_eliminator_impl.h
Preparing for 2.2.0rc1
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schur_eliminator_template.py
Preparing for 2.2.0rc1
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schur_eliminator_test.cc
Preparing for 2.2.0rc1
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schur_eliminator.cc
Preparing for 2.2.0rc1
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schur_eliminator.h
Preparing for 2.2.0rc1
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schur_jacobi_preconditioner.cc
Preparing for 2.2.0rc1
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schur_jacobi_preconditioner.h
Preparing for 2.2.0rc1
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schur_templates.cc
Preparing for 2.2.0rc1
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schur_templates.h
Preparing for 2.2.0rc1
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scoped_thread_token.h
Preparing for 2.2.0rc1
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scratch_evaluate_preparer.cc
Preparing for 2.2.0rc1
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scratch_evaluate_preparer.h
Preparing for 2.2.0rc1
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single_linkage_clustering_test.cc
Preparing for 2.2.0rc1
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single_linkage_clustering.cc
Preparing for 2.2.0rc1
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single_linkage_clustering.h
Preparing for 2.2.0rc1
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small_blas_gemm_benchmark.cc
Preparing for 2.2.0rc1
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small_blas_gemv_benchmark.cc
Preparing for 2.2.0rc1
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small_blas_generic.h
Preparing for 2.2.0rc1
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small_blas_test.cc
Preparing for 2.2.0rc1
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small_blas.h
Preparing for 2.2.0rc1
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solver_test.cc
Preparing for 2.2.0rc1
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solver_utils.cc
Preparing for 2.2.0rc1
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solver_utils.h
Preparing for 2.2.0rc1
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solver.cc
Preparing for 2.2.0rc1
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sparse_cholesky_test.cc
Preparing for 2.2.0rc1
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sparse_cholesky.cc
Preparing for 2.2.0rc1
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sparse_cholesky.h
Preparing for 2.2.0rc1
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sparse_matrix.cc
Preparing for 2.2.0rc1
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sparse_matrix.h
Preparing for 2.2.0rc1
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sparse_normal_cholesky_solver_test.cc
Preparing for 2.2.0rc1
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sparse_normal_cholesky_solver.cc
Preparing for 2.2.0rc1
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sparse_normal_cholesky_solver.h
Preparing for 2.2.0rc1
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spmv_benchmark.cc
Preparing for 2.2.0rc1
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stl_util.h
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stringprintf.cc
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stringprintf.h
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subset_preconditioner_test.cc
Preparing for 2.2.0rc1
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subset_preconditioner.cc
Preparing for 2.2.0rc1
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subset_preconditioner.h
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suitesparse.cc
Preparing for 2.2.0rc1
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suitesparse.h
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system_test.cc
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test_util.cc
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test_util.h
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thread_pool_test.cc
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thread_pool.cc
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thread_pool.h
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thread_token_provider.cc
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thread_token_provider.h
Preparing for 2.2.0rc1
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tiny_solver_autodiff_function_test.cc
Preparing for 2.2.0rc1
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tiny_solver_cost_function_adapter_test.cc
Preparing for 2.2.0rc1
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tiny_solver_test_util.h
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tiny_solver_test.cc
Preparing for 2.2.0rc1
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triplet_sparse_matrix_test.cc
Preparing for 2.2.0rc1
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triplet_sparse_matrix.cc
Preparing for 2.2.0rc1
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triplet_sparse_matrix.h
Preparing for 2.2.0rc1
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trust_region_minimizer_test.cc
Preparing for 2.2.0rc1
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trust_region_minimizer.cc
Preparing for 2.2.0rc1
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trust_region_minimizer.h
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trust_region_preprocessor_test.cc
Preparing for 2.2.0rc1
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trust_region_preprocessor.cc
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trust_region_preprocessor.h
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trust_region_step_evaluator.cc
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trust_region_step_evaluator.h
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trust_region_strategy.cc
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trust_region_strategy.h
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types.cc
Preparing for 2.2.0rc1
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visibility_based_preconditioner_test.cc
Preparing for 2.2.0rc1
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visibility_based_preconditioner.cc
Preparing for 2.2.0rc1
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visibility_based_preconditioner.h
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visibility_test.cc
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visibility.cc
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visibility.h
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wall_time.cc
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wall_time.h
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