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Comments and argument name only change

release/4.3a0
Alex Cunningham 2013-04-10 19:35:48 +00:00
parent 9b2a74bbaf
commit 3e754ecd70
2 changed files with 5 additions and 9 deletions
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2
gtsam.h
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@ -1000,7 +1000,7 @@ virtual class Constrained : gtsam::noiseModel::Diagonal {
static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& precisions);
static gtsam::noiseModel::Constrained* All(size_t dim);
static gtsam::noiseModel::Constrained* All(size_t dim, double m);
static gtsam::noiseModel::Constrained* All(size_t dim, double mu);
gtsam::noiseModel::Constrained* unit() const;
};

12
gtsam/linear/NoiseModel.h
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@ -326,9 +326,6 @@ namespace gtsam {
* While a hard constraint may seem to be a case in which there is infinite error,
* we do not ever produce an error value of infinity to allow for constraints
* to actually be optimized rather than self-destructing if not initialized correctly.
*
* The distance function in this function provides an error model
* for a penalty function with a scaling function, assuming a mask of
*/
class GTSAM_EXPORT Constrained : public Diagonal {
protected:
@ -395,7 +392,6 @@ namespace gtsam {
/**
* A diagonal noise model created by specifying a Vector of
* precisions, some of which might be inf
* TODO: allow for mu
*/
static shared_ptr MixedPrecisions(const Vector& mu, const Vector& precisions) {
return MixedVariances(mu, reciprocal(precisions));
@ -421,9 +417,9 @@ namespace gtsam {
return shared_ptr(new Constrained(mu, repeat(dim,0)));
}
/** Fully constrained variations */
static shared_ptr All(size_t dim, double m) {
return shared_ptr(new Constrained(repeat(dim, m), repeat(dim,0)));
/** Fully constrained variations with a mu parameter */
static shared_ptr All(size_t dim, double mu) {
return shared_ptr(new Constrained(repeat(dim, mu), repeat(dim,0)));
}
virtual void print(const std::string& name) const;
@ -445,7 +441,7 @@ namespace gtsam {
* Check constrained is always true
* FIXME Find a better way of handling this
*/
virtual bool isConstrained() const {return true;}
virtual bool isConstrained() const { return true; }
/**
* Returns a Unit version of a constrained noisemodel in which