1 Commits (92b920cb481919d24bf6361d649d81e43609903d)

Author	SHA1	Message	Date
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