From 7d2f69335d366850e5a1955881914bb995b70fa0 Mon Sep 17 00:00:00 2001
From: krunalchande <krunalchande@gmail.com>
Date: Thu, 18 Dec 2014 20:47:14 -0500
Subject: [PATCH] Added constructor

---
 gtsam_unstable/linear/LinearEquality.h | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/gtsam_unstable/linear/LinearEquality.h b/gtsam_unstable/linear/LinearEquality.h
index bc1b2bc12..5d96d8d38 100644
--- a/gtsam_unstable/linear/LinearEquality.h
+++ b/gtsam_unstable/linear/LinearEquality.h
@@ -41,6 +41,16 @@ public:
       Base() {
   }
 
+  /**
+   * Construct from a constrained noisemodel JacobianFactor with a dual key.
+   */
+  explicit LinearEquality(const JacobianFactor& jf, Key dualKey) : Base(jf), dualKey_(dualKey){
+    if (!jf.isConstrained()) {
+      throw std::runtime_error("Cannot convert an unconstrained JacobianFactor to LinearEquality");
+    }
+  }
+
+
   /** Conversion from HessianFactor (does Cholesky to obtain Jacobian matrix) */
   explicit LinearEquality(const HessianFactor& hf) {
     throw std::runtime_error("Cannot convert HessianFactor to LinearEquality");