From 6d76b5910c7a0a5738a10daf8c34d1af718a60e1 Mon Sep 17 00:00:00 2001
From: krunalchande <krunalchande@gmail.com>
Date: Fri, 19 Dec 2014 12:47:52 -0500
Subject: [PATCH] added comments

---
 gtsam_unstable/nonlinear/tests/testSQPSimple.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam_unstable/nonlinear/tests/testSQPSimple.cpp b/gtsam_unstable/nonlinear/tests/testSQPSimple.cpp
index c649cf295..923d7be4c 100644
--- a/gtsam_unstable/nonlinear/tests/testSQPSimple.cpp
+++ b/gtsam_unstable/nonlinear/tests/testSQPSimple.cpp
@@ -206,7 +206,9 @@ TEST(testSQPSimple, Problem2) {
 
   //Instantiate NLP
   NLP nlp;
-  nlp.cost.add();
+  nlp.cost.add(); // wrap it using linearcontainerfactor
+  nlp.linearEqualities // for constraint it has to inherit from
+  // write an evaluate error and return jacobian
 
   // Instantiate SQP
   SQPSimple sqpSimple(nlp);