2 Commits (b76a029ad81a6811602cbfef7a4b3765e59cbd4e)

Author	SHA1	Message	Date
Alex Cunningham	65df85125d	Fixed NonlinearOptimizer to return a shared pointer to a config	2009-09-10 22:08:47 +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