gtsam

Author	SHA1	Message	Date
Frank Dellaert	cd3e3d8a86	Fairly substantial change: Factor now Testable, MutableLinearFactor gone The latter was prompted by the fact that assert_equal did not like mixing LinearFactor and MutableLinearFactor But MutableLinearFactor always was a bit of a kluge. We should eradicate all non-const on LinearFactor some other way.	2009-10-22 17:23:24 +00:00
Richard Roberts	e52c574e46	Added an empty virtual destructor to fix a compile warning	2009-10-22 14:27:44 +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