VectorValuesUnordered::Zero

gtsam/linear/VectorValuesUnordered.cpp

@@ -55,6 +55,15 @@ namespace gtsam {
       throw std::invalid_argument("Requested to merge two VectorValues that have one or more variables in common.");
   }
 
+  /* ************************************************************************* */
+  VectorValuesUnordered VectorValuesUnordered::Zero(const VectorValuesUnordered& other)
+  {
+    VectorValuesUnordered result;
+    BOOST_FOREACH(const KeyValuePair& v, other)
+      result.values_.insert(make_pair(v.first, Vector::Zero(v.second.size())));
+    return result;
+  }
+
   /* ************************************************************************* */
   void VectorValuesUnordered::insert(const VectorValuesUnordered& values)
   {

gtsam/linear/VectorValuesUnordered.h

@@ -110,6 +110,9 @@ namespace gtsam {
     /** Merge two VectorValues into one, this is more efficient than inserting elements one by one. */
     VectorValuesUnordered(const VectorValuesUnordered& first, const VectorValuesUnordered& second);
 
+    /** Create a VectorValues with the same structure as \c other, but filled with zeros. */
+    static VectorValuesUnordered Zero(const VectorValuesUnordered& other);
+
     /// @}
     /// @name Standard Interface
     /// @{