small comment typo
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b0d95c0a36
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3227766569
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@ -646,7 +646,7 @@ void JacobianFactor::gradientAtZero(double* d) const {
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/* ************************************************************************* */
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/* ************************************************************************* */
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Vector JacobianFactor::gradient(Key key, const VectorValues& x) const {
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Vector JacobianFactor::gradient(Key key, const VectorValues& x) const {
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if (isConstrained()) { // Untested. But see the explaination in gradientAtZero()
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if (isConstrained()) { // Untested. But see the explanation in gradientAtZero()
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Matrix A = getA(find(key));
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Matrix A = getA(find(key));
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return A.transpose()*ones(rows());
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return A.transpose()*ones(rows());
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}
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}
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