From 5120e4b77aa3ee0b04d21fe491df8afccfabeef4 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 21 Feb 2015 16:39:31 +0100 Subject: [PATCH] Constructor --- gtsam/slam/RegularHessianFactor.h | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/gtsam/slam/RegularHessianFactor.h b/gtsam/slam/RegularHessianFactor.h index a738cc256..6401eda90 100644 --- a/gtsam/slam/RegularHessianFactor.h +++ b/gtsam/slam/RegularHessianFactor.h @@ -43,6 +43,15 @@ public: HessianFactor(js, Gs, gs, f) { } + /** Construct a binary factor. Gxx are the upper-triangle blocks of the + * quadratic term (the Hessian matrix), gx the pieces of the linear vector + * term, and f the constant term. + */ + RegularHessianFactor(Key j1, Key j2, const Matrix& G11, const Matrix& G12, + const Vector& g1, const Matrix& G22, const Vector& g2, double f) : + HessianFactor(j1, j2, G11, G12, g1, G22, g2, f) { + } + /** Constructor with an arbitrary number of keys and with the augmented information matrix * specified as a block matrix. */ template