From a9945f2265f2c42be550efd8167d5fc08e966004 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 21 Jun 2012 01:20:14 +0000 Subject: [PATCH] Moved dim() from NonlinearFactor to NoiseModelFactor - for NonlinearFactors that linearize to HessianFactors, dimension is not defined. --- gtsam/nonlinear/NonlinearFactor.h | 3 --- gtsam/slam/AntiFactor.h | 3 --- 2 files changed, 6 deletions(-) diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index e1cfb2bc3..f6869140c 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -124,9 +124,6 @@ public: */ virtual double error(const Values& c) const = 0; - /** get the dimension of the factor (number of rows on linearization) */ - virtual size_t dim() const = 0; - /** * Checks whether a factor should be used based on a set of values. * This is primarily used to implment inequality constraints that diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h index 1e0d64db7..890e5beee 100644 --- a/gtsam/slam/AntiFactor.h +++ b/gtsam/slam/AntiFactor.h @@ -78,9 +78,6 @@ namespace gtsam { */ double error(const Values& c) const { return -factor_->error(c); } - /** get the dimension of the factor (same as the original factor) */ - size_t dim() const { return factor_->dim(); } - /** * Checks whether this factor should be used based on a set of values. * The AntiFactor will have the same 'active' profile as the original factor.