Devirtualize hessianDiagonal

gtsam/linear/GaussianFactor.cpp

@@ -0,0 +1,35 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    GaussianFactor.cpp
+ * @brief   A factor with a quadratic error function - a Gaussian
+ * @brief   GaussianFactor
+ * @author  Fan Jiang
+ */
+
+// \callgraph
+
+#pragma once
+
+#include <gtsam/linear/GaussianFactor.h>
+#include <gtsam/linear/VectorValues.h>
+
+namespace gtsam {
+
+/* ************************************************************************* */
+  VectorValues GaussianFactor::hessianDiagonal() const {
+    VectorValues d;
+    hessianDiagonalAdd(d);
+    return d;
+  }
+
+}

gtsam/linear/GaussianFactor.h

@@ -100,7 +100,7 @@ namespace gtsam {
     virtual Matrix information() const = 0;
 
     /// Return the diagonal of the Hessian for this factor
-    virtual VectorValues hessianDiagonal() const = 0;
+    VectorValues hessianDiagonal() const;
 
     /// Add the current diagonal to a VectorValues instance
     virtual void hessianDiagonalAdd(VectorValues& d) const = 0;

gtsam/linear/HessianFactor.cpp

@@ -301,15 +301,6 @@ Matrix HessianFactor::information() const {
   return informationView();
 }
 
-/* ************************************************************************* */
-VectorValues HessianFactor::hessianDiagonal() const {
-  VectorValues d;
-  for (DenseIndex j = 0; j < (DenseIndex)size(); ++j) {
-    d.emplace(keys_[j], info_.diagonal(j));
-  }
-  return d;
-}
-
 /* ************************************************************************* */
 void HessianFactor::hessianDiagonalAdd(VectorValues &d) const {
   for (DenseIndex j = 0; j < (DenseIndex)size(); ++j) {

gtsam/linear/HessianFactor.h

@@ -293,12 +293,12 @@ namespace gtsam {
      */
     Matrix information() const override;
 
-    /// Return the diagonal of the Hessian for this factor
-    VectorValues hessianDiagonal() const override;
-
     /// Add the current diagonal to a VectorValues instance
     void hessianDiagonalAdd(VectorValues& d) const override;
 
+    /// Using the base method
+    using Base::hessianDiagonal;
+
     /// Raw memory access version of hessianDiagonal
     void hessianDiagonal(double* d) const override;
 

gtsam/linear/JacobianFactor.cpp

@@ -541,13 +541,6 @@ Matrix JacobianFactor::information() const {
   }
 }
 
-/* ************************************************************************* */
-VectorValues JacobianFactor::hessianDiagonal() const {
-  VectorValues d;
-  hessianDiagonalAdd(d);
-  return d;
-}
-
 /* ************************************************************************* */
 void JacobianFactor::hessianDiagonalAdd(VectorValues& d) const {
   for (size_t pos = 0; pos < size(); ++pos) {

gtsam/linear/JacobianFactor.h

@@ -215,8 +215,8 @@ namespace gtsam {
      */
     Matrix information() const override;
 
-    /// Return the diagonal of the Hessian for this factor
+    /// Using the base method
-    VectorValues hessianDiagonal() const override;
+    using Base::hessianDiagonal;
 
     /// Add the current diagonal to a VectorValues instance
     void hessianDiagonalAdd(VectorValues& d) const override;

gtsam/linear/RegularJacobianFactor.h

@@ -102,10 +102,8 @@ public:
       DMap(y + D * keys_[pos]) += Ab_(pos).transpose() * Ax;
   }
 
-  /// Expose base class hessianDiagonal
+  /// Using the base method
-  virtual VectorValues hessianDiagonal() const {
+  using GaussianFactor::hessianDiagonal;
-    return JacobianFactor::hessianDiagonal();
-  }
 
   /// Raw memory access version of hessianDiagonal
   void hessianDiagonal(double* d) const {

gtsam/slam/RegularImplicitSchurFactor.h

@@ -141,15 +141,8 @@ public:
     return augmented.block(0, 0, M, M);
   }
 
-  /// Return the diagonal of the Hessian for this factor
+  /// Using the base method
-  virtual VectorValues hessianDiagonal() const {
+  using GaussianFactor::hessianDiagonal;
-    // diag(Hessian) = diag(F' * (I - E * PointCov * E') * F);
-    VectorValues d;
-
-    hessianDiagonalAdd(d);
-
-    return d;
-  }
 
   /// Add the diagonal of the Hessian for this factor to existing VectorValues
   virtual void hessianDiagonalAdd(VectorValues &d) const override {