Reverting - Moved dim() from NonlinearFactor to NoiseModelFactor - for NonlinearFactors that linearize to HessianFactors, dimension is not defined. (reverse-merged from commit e9b6a7949524d4d8d4069abaee16d213792a3507)

gtsam/nonlinear/NonlinearFactor.h

@@ -124,6 +124,9 @@ public:
    */
   virtual double error(const Values& c) const = 0;
 
+  /** get the dimension of the factor (number of rows on linearization) */
+  virtual size_t dim() const = 0;
+
 	/**
 	 * Checks whether a factor should be used based on a set of values.
 	 * This is primarily used to implment inequality constraints that

gtsam/slam/AntiFactor.h

@@ -78,6 +78,9 @@ namespace gtsam {
 	   */
 	  double error(const Values& c) const { return -factor_->error(c); }
 
+	  /** get the dimension of the factor (same as the original factor) */
+	  size_t dim() const { return factor_->dim(); }
+
 	  /**
 	   * Checks whether this factor should be used based on a set of values.
 	   * The AntiFactor will have the same 'active' profile as the original factor.