gtsam

Author	SHA1	Message	Date
Frank Dellaert	989f290c99	'''BIG CHANGE''': avoid converting back and to FGConfigs by templating on configuration type. Details: * Factors are now templated on the configuration type. Factor Graphs are now templated on the factor type and configuration type. * LinearFactor is a factor on an FGConfig. * LinearFactorGraph uses LinearFactor and FGConfig. * NonLinearFactor is still templated on Config. * NonLinearFactorGraph uses NonLinearFactors, but is still templated on Config. * Tests and VSLAMFactor have been updated to reflect those changes.	2009-10-06 18:25:04 +00:00
Manohar Paluri	0ac12dfcbf	changed config() to const	2009-09-11 18:33:05 +00:00
Alireza Fathi	5e713551b3	get it run on the mac	2009-09-10 22:50:06 +00:00
Alex Cunningham	65df85125d	Fixed NonlinearOptimizer to return a shared pointer to a config	2009-09-10 22:08:47 +00:00
Alireza Fathi	5e1c719c17	the getConfig function is so dangerous and it should not exist...	2009-09-10 20:32:27 +00:00
Frank Dellaert	ead3d03866	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.	2009-09-09 04:43:04 +00:00