gtsam

Author	SHA1	Message	Date
Frank Dellaert	a8d267c4ca	Small change necessitating lots of edits: Conditionals now include key of random variable This simplifies Bayes nets quite a bit. Also created a Conditional base class, derived classes ConditionalGaussian and SymbolicConditional Finally, some changes were needed because I moved some headers to .cpp	2009-11-02 03:50:30 +00:00
Alex Cunningham	7d0a30c20f	Renamed FGConfig to VectorConfig in gtsam, easylib, EasySLAM, and mast.	2009-10-14 20:39:59 +00:00
Alex Cunningham	66dac8a52f	Generalized constraint handling to create a LinearConstraint which implements linear equality constraints that can be eliminated as a part of a ConstrainedLinearFactorGraph. DeltaFunction has been changed to be a ConstrainedConditionalGaussian, which has a more robust solve() function. The new tests no longer use the "constrained" example from smallExample, so those functions have been commented. ''Limitations: '' * Any given node can only have one constraint on it, but constraints can be of arbitrary size * Constraints can only be specified as a blockwise system, where each block must be square and invertible to support arbitrary elimination orderings. * ConstrainedNonlinearFactorGraph is disabled until a better solution for handling constraints in the nonlinear case is determined.	2009-10-08 13:57:22 +00:00