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

release/4.3a0
Richard Roberts 2012-06-22 15:25:02 +00:00
parent 685d4d7da2
commit d8703b1c93
2 changed files with 6 additions and 0 deletions
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3
gtsam/nonlinear/NonlinearFactor.h
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@ -124,6 +124,9 @@ public:
*/ */
virtual double error(const Values& c) const = 0; 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. * Checks whether a factor should be used based on a set of values.
* This is primarily used to implment inequality constraints that * This is primarily used to implment inequality constraints that

3
gtsam/slam/AntiFactor.h
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@ -78,6 +78,9 @@ namespace gtsam {
*/ */
double error(const Values& c) const { return -factor_->error(c); } 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. * 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. * The AntiFactor will have the same 'active' profile as the original factor.