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Performance improvement for forward dynamics #188

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merged 13 commits into from
May 27, 2014
Merged

Performance improvement for forward dynamics #188

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4309d15
Add isSymmetric() function
jslee02 May 27, 2014
f405246
Adapting World::step() to refactored forward dynamics API
jslee02 May 27, 2014
8acc5d5
Refactor joint classes for performance improvement
jslee02 May 27, 2014
c628eb7
Fix Skeleton::updateForwardKinematics()
jslee02 May 27, 2014
b5d3fee
Fix computing mass matrix and its inverse matrix
jslee02 May 27, 2014
3a7c84b
Fix computing C, C+g
jslee02 May 27, 2014
1d16032
Passed testDynamics.cpp
jslee02 May 27, 2014
955e07d
Passe testJoints.cpp
jslee02 May 27, 2014
583c038
Testing softbody dynamics
jslee02 May 27, 2014
997d571
Remove override keyword and pass all the unit tests
jslee02 May 27, 2014
d30b4f7
Update transmitted force and body acceleration with constraint impulses
jslee02 May 27, 2014
3228d0a
Update copyright years
jslee02 May 27, 2014
1dd569a
Fix style
jslee02 May 27, 2014
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2 changes: 1 addition & 1 deletion apps/balance/Controller.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/balance/Controller.h
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/balance/Main.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/balance/MyWindow.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/balance/MyWindow.h
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/cube/Main.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/cube/MyWindow.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/cube/MyWindow.h
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/cubes/Main.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/cubes/MyWindow.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/cubes/MyWindow.h
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/doublePendulumWithBase/Main.cpp
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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2 changes: 1 addition & 1 deletion apps/doublePendulumWithBase/MyWindow.cpp
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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2 changes: 1 addition & 1 deletion apps/doublePendulumWithBase/MyWindow.h
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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2 changes: 1 addition & 1 deletion apps/forwardSim/Main.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/forwardSim/MyWindow.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/forwardSim/MyWindow.h
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/hardcodedDesign/Main.cpp
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Can Erdogan
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2 changes: 1 addition & 1 deletion apps/hardcodedDesign/MyWindow.cpp
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Can Erdogan
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2 changes: 1 addition & 1 deletion apps/hardcodedDesign/MyWindow.h
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Can Erdogan
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2 changes: 1 addition & 1 deletion apps/jointLimitTest/Main.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/jointLimitTest/MyWindow.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/jointLimitTest/MyWindow.h
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion apps/meshCollision/Main.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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2 changes: 1 addition & 1 deletion apps/meshCollision/MyWindow.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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2 changes: 1 addition & 1 deletion apps/meshCollision/MyWindow.h
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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2 changes: 1 addition & 1 deletion apps/sdfLoader/Main.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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2 changes: 1 addition & 1 deletion apps/sdfLoader/MyWindow.cpp
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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2 changes: 1 addition & 1 deletion apps/sdfLoader/MyWindow.h
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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10 changes: 5 additions & 5 deletions apps/softDropBoxTest/MyWindow.cpp
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Expand Up @@ -85,11 +85,11 @@ void MyWindow::timeStepping()

void MyWindow::drawSkels()
{
// glEnable(GL_LIGHTING);
// glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
// Eigen::Vector4d color;
// color << 0.5, 0.8, 0.6, 1.0;
// mWorld->getSkeleton(0)->draw(mRI, color, false);
glEnable(GL_LIGHTING);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
Eigen::Vector4d color;
color << 0.5, 0.8, 0.6, 1.0;
mWorld->getSkeleton(0)->draw(mRI, color, false);

// draw arrow
if (mImpulseDuration > 0)
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2 changes: 1 addition & 1 deletion dart/collision/CollisionDetector.cpp
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>,
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2 changes: 1 addition & 1 deletion dart/collision/CollisionDetector.h
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>,
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2 changes: 1 addition & 1 deletion dart/collision/CollisionNode.cpp
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>,
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2 changes: 1 addition & 1 deletion dart/collision/CollisionNode.h
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>,
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2 changes: 1 addition & 1 deletion dart/collision/dart/DARTCollide.cpp
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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2 changes: 1 addition & 1 deletion dart/collision/dart/DARTCollide.h
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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2 changes: 1 addition & 1 deletion dart/collision/dart/DARTCollisionDetector.cpp
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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2 changes: 1 addition & 1 deletion dart/collision/dart/DARTCollisionDetector.h
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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2 changes: 1 addition & 1 deletion dart/collision/fcl/FCLCollisionDetector.cpp
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>,
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2 changes: 1 addition & 1 deletion dart/collision/fcl/FCLCollisionDetector.h
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>,
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2 changes: 1 addition & 1 deletion dart/collision/fcl/FCLCollisionNode.cpp
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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2 changes: 1 addition & 1 deletion dart/collision/fcl/FCLCollisionNode.h
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/*
* Copyright (c) 2013, Georgia Tech Research Corporation
* Copyright (c) 2013-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
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2 changes: 1 addition & 1 deletion dart/collision/fcl_mesh/CollisionShapes.h
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Chen Tang
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2 changes: 1 addition & 1 deletion dart/common/Console.cpp
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Sumit Jain <sumit@cc.gatech.edu>,
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2 changes: 1 addition & 1 deletion dart/common/Console.h
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/*
* Copyright (c) 2011-2013, Georgia Tech Research Corporation
* Copyright (c) 2011-2014, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Sumit Jain <sumit@cc.gatech.edu>,
Expand Down
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