From ee8316e291e935c0487165e0abc6adc75b7fc565 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 15 May 2015 08:44:58 -0400 Subject: [PATCH] fix comments --- gtsam_unstable/linear/LinearCost.h | 4 ++-- gtsam_unstable/linear/LinearInequality.h | 3 ++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/gtsam_unstable/linear/LinearCost.h b/gtsam_unstable/linear/LinearCost.h index a3f9edbd1..d3b5f6beb 100644 --- a/gtsam_unstable/linear/LinearCost.h +++ b/gtsam_unstable/linear/LinearCost.h @@ -25,8 +25,8 @@ namespace gtsam { typedef Eigen::RowVectorXd RowVector; /** - * This class defines a linear inequality constraint g(x)<=0, - * inheriting JacobianFactor with the special Constrained noise model + * This class defines a linear cost function c'x + * which is a JacobianFactor with only one row */ class LinearCost: public JacobianFactor { public: diff --git a/gtsam_unstable/linear/LinearInequality.h b/gtsam_unstable/linear/LinearInequality.h index d45f9f7ac..4d1e3aaee 100644 --- a/gtsam_unstable/linear/LinearInequality.h +++ b/gtsam_unstable/linear/LinearInequality.h @@ -83,7 +83,8 @@ public: /** Construct an n-ary factor * @tparam TERMS A container whose value type is std::pair, specifying the - * collection of keys and matrices making up the factor. */ + * collection of keys and matrices making up the factor. + * In this inequality factor, each matrix must have only one row!! */ template LinearInequality(const TERMS& terms, double b, Key dualKey) : Base(terms, (Vector(1) << b).finished(), noiseModel::Constrained::All(1)), dualKey_(