3 Commits (11f0d04cb6e1fe16f867f94c81510a5a231da8af)

Author	SHA1	Message	Date
Brian Law	11f0d04cb6	made all classes that currently have an assert_equal "Testable" ... - derive from testable as in class Point2 : Testable<Point2> - moved print and equal declarations in .h right after the constructor - similarly, moved implementations after constructors in .cpp file - removed obsolete assert_equal	2009-10-26 19:26:51 +00:00
Alex Cunningham	8f20523e7f	ConstrainedLinearFactorGraphs now handles multiple constraints on a node properly. ... smallExample was changed to include two of the examples used in testConstrainedLinearFactorGraph ConditionalGaussian was changed to make solve() virtual, as this is necessary for ConstrainedConditionalGaussian	2009-10-14 15:32:05 +00:00
Alex Cunningham	66dac8a52f	Generalized constraint handling to create a LinearConstraint which implements linear equality constraints that can be eliminated as a part of a ConstrainedLinearFactorGraph. DeltaFunction has been changed to be a ConstrainedConditionalGaussian, which has a more robust solve() function. The new tests no longer use the "constrained" example from smallExample, so those functions have been commented. ... ''Limitations: '' * Any given node can only have one constraint on it, but constraints can be of arbitrary size * Constraints can only be specified as a blockwise system, where each block must be square and invertible to support arbitrary elimination orderings. * ConstrainedNonlinearFactorGraph is disabled until a better solution for handling constraints in the nonlinear case is determined.	2009-10-08 13:57:22 +00:00