Alex Cunningham
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65df85125d
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Fixed NonlinearOptimizer to return a shared pointer to a config
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2009-09-10 22:08:47 +00:00 |
Alireza Fathi
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5e1c719c17
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the getConfig function is so dangerous and it should not exist...
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2009-09-10 20:32:27 +00:00 |
Frank Dellaert
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ead3d03866
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BIG: replaced optimize in NonlinearFactorGraph with specialized NonlinearOptimizer object. This does away with the artificial ErrorVectorConfig and the like as NonlinearOptimizer is templated and can use "exmap", the exponential map defined for any differentiable manifold.
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2009-09-09 04:43:04 +00:00 |