Commit Graph

2 Commits (ec6611ae560dc523c7c91f8664fba03eaaa0491f)

Author SHA1 Message Date
Frank Dellaert b6cee73571 Significant change: Made FactorGraph templated on Factor only, and moved error and probPrime to derived classes
Moved find_and_remove_factors to base class
Added and tested symbolic factor graph constructor and conversion from any factor graph type
2009-10-29 04:11:23 +00:00
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