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fix comments

release/4.3a0
Duy-Nguyen Ta 2015-05-15 08:44:58 -04:00
parent 09ffc73b6e
commit ee8316e291
2 changed files with 4 additions and 3 deletions
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4
gtsam_unstable/linear/LinearCost.h
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@ -25,8 +25,8 @@ namespace gtsam {
typedef Eigen::RowVectorXd RowVector; typedef Eigen::RowVectorXd RowVector;
/** /**
* This class defines a linear inequality constraint g(x)<=0, * This class defines a linear cost function c'x
* inheriting JacobianFactor with the special Constrained noise model * which is a JacobianFactor with only one row
*/ */
class LinearCost: public JacobianFactor { class LinearCost: public JacobianFactor {
public: public:

3
gtsam_unstable/linear/LinearInequality.h
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@ -83,7 +83,8 @@ public:
/** Construct an n-ary factor /** Construct an n-ary factor
* @tparam TERMS A container whose value type is std::pair<Key, Matrix>, specifying the * @tparam TERMS A container whose value type is std::pair<Key, Matrix>, 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<typename TERMS> template<typename TERMS>
LinearInequality(const TERMS& terms, double b, Key dualKey) : LinearInequality(const TERMS& terms, double b, Key dualKey) :
Base(terms, (Vector(1) << b).finished(), noiseModel::Constrained::All(1)), dualKey_( Base(terms, (Vector(1) << b).finished(), noiseModel::Constrained::All(1)), dualKey_(