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Constructor

release/4.3a0
dellaert 2015-02-21 16:39:31 +01:00
parent 96e63fb480
commit 5120e4b77a
1 changed files with 9 additions and 0 deletions
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gtsam/slam/RegularHessianFactor.h
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@ -43,6 +43,15 @@ public:
HessianFactor(js, Gs, gs, f) { 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 /** Constructor with an arbitrary number of keys and with the augmented information matrix
* specified as a block matrix. */ * specified as a block matrix. */
template<typename KEYS> template<typename KEYS>