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is_constrained is now isConstrained

release/4.3a0
dellaert 2014-11-26 12:33:17 +01:00
parent 6d2f47a98c
commit 3307a49e65
1 changed files with 1 additions and 2 deletions
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3
gtsam_unstable/nonlinear/ExpressionFactor.h
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@ -90,7 +90,7 @@ public:
// Create a writeable JacobianFactor in advance // Create a writeable JacobianFactor in advance
// In case noise model is constrained, we need to provide a noise model // In case noise model is constrained, we need to provide a noise model
bool constrained = noiseModel_->is_constrained(); bool constrained = noiseModel_->isConstrained();
boost::shared_ptr<JacobianFactor> factor( boost::shared_ptr<JacobianFactor> factor(
constrained ? new JacobianFactor(keys_, dims_, Dim, constrained ? new JacobianFactor(keys_, dims_, Dim,
boost::static_pointer_cast<noiseModel::Constrained>(noiseModel_)->unit()) : boost::static_pointer_cast<noiseModel::Constrained>(noiseModel_)->unit()) :
@ -107,7 +107,6 @@ public:
T value = expression_.value(x, jacobianMap); // <<< Reverse AD happens here ! T value = expression_.value(x, jacobianMap); // <<< Reverse AD happens here !
// Evaluate error and set RHS vector b // Evaluate error and set RHS vector b
// TODO(PTF) Is this a place for custom charts?
DefaultChart<T> chart; DefaultChart<T> chart;
Ab(size()).col(0) = -chart.local(measurement_, value); Ab(size()).col(0) = -chart.local(measurement_, value);