gtsam

Author	SHA1	Message	Date
Alex Cunningham	31856ce598	SQPOptimizer can now do its own initialization of the Lagrange multipliers. Cleaned up NonlinearConstraint	2009-11-23 22:10:52 +00:00
Alex Cunningham	714edb57f0	Basic implementation of a binary nonlinear constraint, with working linearization of a binary constraint.	2009-11-20 03:50:48 +00:00
Alex Cunningham	ee4a066275	Implemented linearization and equality for unary NonlinearConstraints. Current tests use a scalar example. Split out implementation into a separate implementation file.	2009-11-20 03:04:49 +00:00