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Fixed small error in NonlinearConstraint and added note explaining why nonlinear constraints do not use a constrained noisemodel in the nonlinear sense.

release/4.3a0
Alex Cunningham 2010-02-23 18:37:17 +00:00
parent 1df4385d84
commit a2310b4eab
2 changed files with 7 additions and 1 deletions
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2
cpp/NonlinearConstraint-inl.h
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@ -25,7 +25,7 @@ template <class Config>
NonlinearConstraint<Config>::NonlinearConstraint(const LagrangeKey& lagrange_key, NonlinearConstraint<Config>::NonlinearConstraint(const LagrangeKey& lagrange_key,
size_t dim_lagrange, size_t dim_lagrange,
bool isEquality) : bool isEquality) :
NonlinearFactor<Config>(noiseModel::Unit::Create(dim_lagrange)), NonlinearFactor<Config>(noiseModel::Unit::Create(2*dim_lagrange)),
lagrange_key_(lagrange_key), p_(dim_lagrange), isEquality_(isEquality) { lagrange_key_(lagrange_key), p_(dim_lagrange), isEquality_(isEquality) {
this->keys_.push_back(lagrange_key_); this->keys_.push_back(lagrange_key_);
} }

6
cpp/NonlinearConstraint.h
View File

@ -25,6 +25,12 @@ typedef TypedSymbol<Vector, 'L'> LagrangeKey;
* *
* The measurement z in the underlying NonlinearFactor is the * The measurement z in the underlying NonlinearFactor is the
* set of Lagrange multipliers. * set of Lagrange multipliers.
*
* Note on NoiseModel:
* The nonlinear constraint actually uses a Unit noisemodel so that
* it is possible to have a finite error value when the constraint is
* not fulfilled. Using a constrained noisemodel will immediately cause
* infinite error and break optimization.
*/ */
template <class Config> template <class Config>
class NonlinearConstraint : public NonlinearFactor<Config> { class NonlinearConstraint : public NonlinearFactor<Config> {