This simplifies Bayes nets quite a bit. Also created a Conditional base class, derived classes ConditionalGaussian and SymbolicConditional
Finally, some changes were needed because I moved some headers to .cpp
- 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
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
''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.
Frank Dellaert
Brian Law
Alex Cunningham