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release/4.3a0
dellaert 2014-10-02 09:44:29 +02:00
parent 3f5aa0f23e
commit 1dddb4046a
1 changed files with 4 additions and 3 deletions
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7
gtsam/nonlinear/NonlinearFactor.h
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@ -211,10 +211,11 @@ public:
/** /**
* Error function *without* the NoiseModel, \f$ z-h(x) \f$. * Error function *without* the NoiseModel, \f$ z-h(x) \f$.
* Override this method to finish implementing an N-way factor. * Override this method to finish implementing an N-way factor.
* If any of the optional Matrix reference arguments are specified, it should compute * If the optional arguments is specified, it should compute
* both the function evaluation and its derivative(s) in X1 (and/or X2, X3...). * both the function evaluation and its derivative(s) in H.
*/ */
virtual Vector unwhitenedError(const Values& x, boost::optional<std::vector<Matrix>&> H = boost::none) const = 0; virtual Vector unwhitenedError(const Values& x,
boost::optional<std::vector<Matrix>&> H = boost::none) const = 0;
/** /**
* Vector of errors, whitened * Vector of errors, whitened