Possible to do inequality constraint with G2o?

[TBdt38]

I am looking for a way to implement inequality constraint with G2o tool. Is it possible? i haven't found what could be used.
Basically, i would like to have for constraint a basic inequality. For instance, keeping a state scalar X lower than an hardcoded threshold value.
Any way to do it with G2O or we have to deal with equalities only?

[felixendres]

I haven't tried it, but I would guess you can write your own edge with a custom computeError() function and linearizeOplus() that behaves as you say.