diff --git a/gtsam_unstable/linear/LinearEquality.h b/gtsam_unstable/linear/LinearEquality.h index ba80e16bf..c0df33168 100644 --- a/gtsam_unstable/linear/LinearEquality.h +++ b/gtsam_unstable/linear/LinearEquality.h @@ -120,6 +120,9 @@ public: /// dual key Key dualKey() const { return dualKey_; } + /// for active set method: equality constraints are always active + bool active() const { return true; } + /** Special error_vector for constraints (A*x-b) */ Vector error_vector(const VectorValues& c) const { return unweighted_error(c);