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release/4.3a0
Richard Roberts 2012-05-28 12:20:49 +00:00
parent c12d316fff
commit 2a98ba5857
1 changed files with 17 additions and 17 deletions
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34
gtsam/linear/HessianFactor.h
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@ -269,23 +269,23 @@ namespace gtsam {
/** Return the complete linear term \f$ g \f$ as described above. /** Return the complete linear term \f$ g \f$ as described above.
* @return The linear term \f$ g \f$ */ * @return The linear term \f$ g \f$ */
constColumn linearTerm() const; constColumn linearTerm() const;
/** Return the augmented information matrix represented by this GaussianFactor. /** Return the augmented information matrix represented by this GaussianFactor.
* The augmented information matrix contains the information matrix with an * The augmented information matrix contains the information matrix with an
* additional column holding the information vector, and an additional row * additional column holding the information vector, and an additional row
* holding the transpose of the information vector. The lower-right entry * holding the transpose of the information vector. The lower-right entry
* contains the constant error term (when \f$ \delta x = 0 \f$). The * contains the constant error term (when \f$ \delta x = 0 \f$). The
* augmented information matrix is described in more detail in HessianFactor, * augmented information matrix is described in more detail in HessianFactor,
* which in fact stores an augmented information matrix. * which in fact stores an augmented information matrix.
* *
* For HessianFactor, this is the same as info() except that this function * For HessianFactor, this is the same as info() except that this function
* returns a complete symmetric matrix whereas info() returns a matrix where * returns a complete symmetric matrix whereas info() returns a matrix where
* only the upper triangle is valid, but should be interpreted as symmetric. * only the upper triangle is valid, but should be interpreted as symmetric.
* This is because info() returns only a reference to the internal * This is because info() returns only a reference to the internal
* representation of the augmented information matrix, which stores only the * representation of the augmented information matrix, which stores only the
* upper triangle. * upper triangle.
*/ */
virtual Matrix computeInformation() const; virtual Matrix computeInformation() const;
// Friend unit test classes // Friend unit test classes
friend class ::ConversionConstructorHessianFactorTest; friend class ::ConversionConstructorHessianFactorTest;