From 2ef911b7e9a6e8d00e0094c079cb01ea0892bee5 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Tue, 13 Dec 2011 22:49:37 +0000
Subject: [PATCH] (in branch) added VectorValues::setZero() function

---
 gtsam/linear/VectorValues.cpp | 9 +++++++--
 gtsam/linear/VectorValues.h   | 5 ++++-
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp
index d592ccdfe..6c3ec797e 100644
--- a/gtsam/linear/VectorValues.cpp
+++ b/gtsam/linear/VectorValues.cpp
@@ -39,7 +39,7 @@ VectorValues& VectorValues::operator=(const VectorValues& rhs) {
 /* ************************************************************************* */
 VectorValues VectorValues::Zero(const VectorValues& x) {
 	VectorValues cloned(SameStructure(x));
-	cloned.vector() = Vector::Zero(x.dim());
+	cloned.setZero();
 	return cloned;
 }
 
@@ -124,10 +124,15 @@ VectorValues VectorValues::SameStructure(const VectorValues& other) {
 /* ************************************************************************* */
 VectorValues VectorValues::Zero(Index nVars, size_t varDim) {
   VectorValues ret(nVars, varDim);
-  ret.vector() = Vector::Zero(ret.dim());
+  ret.setZero();
   return ret;
 }
 
+/* ************************************************************************* */
+void VectorValues::setZero() {
+  values_.setZero();
+}
+
 /* ************************************************************************* */
 bool VectorValues::hasSameStructure(const VectorValues& other) const {
   if(this->size() != other.size())
diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h
index 0bcafd23c..33351ceb7 100644
--- a/gtsam/linear/VectorValues.h
+++ b/gtsam/linear/VectorValues.h
@@ -238,6 +238,9 @@ namespace gtsam {
     template<class CONTAINER>
     void append(const CONTAINER& dimensions);
 
+    /** Set all entries to zero, does not modify the size. */
+    void setZero();
+
     /** Reference the entire solution vector (const version). */
     const Vector& vector() const { chk(); return values_; }
 
@@ -383,7 +386,7 @@ namespace gtsam {
   template<class CONTAINER>
   VectorValues VectorValues::Zero(const CONTAINER& dimensions) {
     VectorValues ret(dimensions);
-    ret.vector() = Vector::Zero(ret.dim());
+    ret.setZero();
     return ret;
   }