SQP now works with single configs using the TupleConfigs, without needing a separate optimizer.

cpp/LieConfig.h

@@ -49,7 +49,7 @@ namespace gtsam {
     virtual ~LieConfig() {}
 
     /** print */
-    void print(const std::string &s) const;
+    void print(const std::string &s="") const;
 
     /** Test whether configs are identical in keys and values */
     bool equals(const LieConfig& expected, double tol=1e-9) const;

cpp/NonlinearConstraint-inl.h

@@ -197,6 +197,8 @@ bool NonlinearConstraint2<Config, Key1, X1, Key2, X2>::equals(const Factor<Confi
 template<class Config, class Key1, class X1, class Key2, class X2>
 GaussianFactor::shared_ptr
 NonlinearConstraint2<Config, Key1, X1, Key2, X2>::linearize(const Config& config) const {
+	const size_t p = this->p_;
+
 	// extract lagrange multiplier
 	Vector lambda = config[this->lagrange_key_];
 
@@ -207,17 +209,40 @@ NonlinearConstraint2<Config, Key1, X1, Key2, X2>::linearize(const Config& config
 	Matrix grad1 = G1_(config);
 	Matrix grad2 = G2_(config);
 
-	// construct probabilistic factor
-	Matrix A1 = vector_scale(lambda, grad1);
-	Matrix A2 = vector_scale(lambda, grad2);
-	SharedDiagonal probModel = sharedSigma(this->p_,1.0);
-	GaussianFactor::shared_ptr factor(new GaussianFactor(key1_, A1, key2_, A2,
-			this->lagrange_key_, eye(this->p_), zero(this->p_), probModel));
+	// create matrices
+	Matrix Ax1 = zeros(grad1.size1()*2, grad1.size2()),
+		   Ax2 = zeros(grad2.size1()*2, grad2.size2()),
+		   AL = eye(p*2, p);
 
-	// construct the constraint
-	SharedDiagonal constraintModel = noiseModel::Constrained::All(this->p_);
-	GaussianFactor::shared_ptr constraint(new GaussianFactor(key1_, grad1,
-			key2_, grad2, -1.0 * g, constraintModel));
+	// insert matrix components
+	insertSub(Ax1, vector_scale(lambda, grad1), 0, 0);
+	insertSub(Ax1, grad1, grad1.size1(), 0);
+
+	insertSub(Ax2, vector_scale(lambda, grad2), 0, 0);
+	insertSub(Ax2, grad2, grad2.size1(), 0);
+
+	Vector rhs = zero(p*2);
+	subInsert(rhs, -1*g, p);
+
+	// construct a mixed constraint model
+	Vector sigmas = zero(p*2);
+	subInsert(sigmas, ones(p), 0);
+	SharedDiagonal mixedConstraint = noiseModel::Constrained::MixedSigmas(sigmas);
+
+	GaussianFactor::shared_ptr factor(new
+			GaussianFactor(key1_, Ax1, key2_, Ax2, this->lagrange_key_, AL, rhs, mixedConstraint));
+
+//	// construct probabilistic factor
+//	Matrix A1 = vector_scale(lambda, grad1);
+//	Matrix A2 = vector_scale(lambda, grad2);
+//	SharedDiagonal probModel = sharedSigma(this->p_,1.0);
+//	GaussianFactor::shared_ptr factor(new GaussianFactor(key1_, A1, key2_, A2,
+//			this->lagrange_key_, eye(this->p_), zero(this->p_), probModel));
+//
+//	// construct the constraint
+//	SharedDiagonal constraintModel = noiseModel::Constrained::All(this->p_);
+//	GaussianFactor::shared_ptr constraint(new GaussianFactor(key1_, grad1,
+//			key2_, grad2, -1.0 * g, constraintModel));
 
 	return factor;
 }

cpp/testNonlinearConstraint.cpp

@@ -186,24 +186,15 @@ TEST( NonlinearConstraint2, binary_scalar_linearize ) {
 	// linearize the system
 	GaussianFactor::shared_ptr actualFactor = c1.linearize(realconfig);
 
-	// verify
+	// verify - probabilistic component goes on top
 	Matrix Ax0 = Matrix_(2,1, 6.0, 2.0),
 		   Ax1 = Matrix_(2,1,-3.0,-1.0),
 		   AL  = Matrix_(2,1, 1.0, 0.0);
-	Vector rhs = Vector_(2, 0, 6.0),
+	Vector rhs = Vector_(2, 0.0, 6.0),
 		   sigmas = Vector_(2, 1.0, 0.0);
 	SharedDiagonal expModel = noiseModel::Constrained::MixedSigmas(sigmas);
-
-//	SharedDiagonal probModel = sharedSigma(p,1.0);
-//	GaussianFactor expectedFactor(x0, Matrix_(1,1, 6.0),
-//							 	  x1, Matrix_(1,1, -3.0),
-//							      L1, eye(1), zero(1), probModel);
-//	SharedDiagonal constraintModel = noiseModel::Constrained::All(p);
-//	GaussianFactor expectedConstraint(x0, Matrix_(1,1, 2.0),
-//								      x1, Matrix_(1,1, -1.0),
-//								       Vector_(1, 6.0), constraintModel);
-//	CHECK(assert_equal(*actualFactor, expectedFactor));
-//	CHECK(assert_equal(*actualConstraint, expectedConstraint));
+	GaussianFactor expFactor(x0,Ax0, x1, Ax1,L1, AL, rhs, expModel);
+	CHECK(assert_equal(expFactor, *actualFactor));
 }
 
 /* ************************************************************************* */