12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

get_model

release/4.3a0
Frank Dellaert 2010-01-19 05:29:31 +00:00
parent 6dcc275432
commit 2a57a04ba6
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
cpp/GaussianFactor.h
View File

@ -95,7 +95,7 @@ public:
As_.insert(terms[i]); As_.insert(terms[i]);
} }
/** Construct an n-ary factor with a multiple sigmas*/ /** Construct an n-ary factor with multiple sigmas*/
GaussianFactor(const std::vector<std::pair<Symbol, Matrix> > &terms, GaussianFactor(const std::vector<std::pair<Symbol, Matrix> > &terms,
const Vector &b, const Vector& sigmas) : const Vector &b, const Vector& sigmas) :
b_(b), model_(noiseModel::Diagonal::Sigmas(sigmas)) { b_(b), model_(noiseModel::Diagonal::Sigmas(sigmas)) {
@ -139,6 +139,9 @@ public:
/** get a copy of sigmas */ /** get a copy of sigmas */
const Vector& get_sigmas() const { return model_->sigmas(); } const Vector& get_sigmas() const { return model_->sigmas(); }
/** get a copy of sigmas */
const sharedDiagonal& get_model() const { return model_; }
/** /**
* get a copy of the A matrix from a specific node * get a copy of the A matrix from a specific node
* O(log n) * O(log n)