Added tests for error() in linear factors for case when the VectorValues has more values than a factor does. Added subvector() to VectorValues to isolate a particular set of indices for use in HessianFactor::error().

.cproject

@@ -307,6 +307,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testGaussianFactor.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -333,7 +341,6 @@
 			</target>
 			<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testBayesTree.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -341,7 +348,6 @@
 			</target>
 			<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testBinaryBayesNet.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -389,7 +395,6 @@
 			</target>
 			<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSymbolicBayesNet.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -397,7 +402,6 @@
 			</target>
 			<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testSymbolicFactor.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -405,7 +409,6 @@
 			</target>
 			<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -421,20 +424,11 @@
 			</target>
 			<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testBayesTree</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testGaussianFactor.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
@@ -523,22 +517,6 @@
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testPose2.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testPose3.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testPose3.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -555,6 +533,22 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testPose2.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testPose3.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testPose3.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -579,26 +573,26 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
+				<buildArguments>-j5</buildArguments>
-				<buildTarget>all</buildTarget>
+				<buildTarget>testValues.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
+				<buildArguments>-j5</buildArguments>
-				<buildTarget>check</buildTarget>
+				<buildTarget>testOrdering.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
+				<buildArguments>-j5</buildArguments>
-				<buildTarget>clean</buildTarget>
+				<buildTarget>testKey.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -683,26 +677,26 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
+				<buildArguments>-j2</buildArguments>
-				<buildTarget>testValues.run</buildTarget>
+				<buildTarget>all</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
+				<buildArguments>-j2</buildArguments>
-				<buildTarget>testOrdering.run</buildTarget>
+				<buildTarget>check</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
+				<buildArguments>-j2</buildArguments>
-				<buildTarget>testKey.run</buildTarget>
+				<buildTarget>clean</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -1045,7 +1039,6 @@
 			</target>
 			<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testGraph.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1053,7 +1046,6 @@
 			</target>
 			<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testJunctionTree.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1061,7 +1053,6 @@
 			</target>
 			<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSymbolicBayesNetB.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1221,7 +1212,6 @@
 			</target>
 			<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testErrors.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1267,10 +1257,10 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testLinearContainerFactor.run" path="build/gtsam_unstable/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
+				<buildArguments>-j2</buildArguments>
-				<buildTarget>testLinearContainerFactor.run</buildTarget>
+				<buildTarget>testGaussianFactor.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -1355,10 +1345,10 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="testLinearContainerFactor.run" path="build/gtsam_unstable/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
+				<buildArguments>-j5</buildArguments>
-				<buildTarget>testGaussianFactor.run</buildTarget>
+				<buildTarget>testLinearContainerFactor.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -1693,6 +1683,7 @@
 			</target>
 			<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSimulated2DOriented.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1732,6 +1723,7 @@
 			</target>
 			<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSimulated2D.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1739,6 +1731,7 @@
 			</target>
 			<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSimulated3D.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1832,6 +1825,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testJacobianFactor.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testJacobianFactor.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="SimpleRotation.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -1930,6 +1931,7 @@
 			</target>
 			<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>tests/testGaussianISAM2</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1951,6 +1953,102 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testRot3.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testRot2.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testPose3.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>timeRot3.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testPose2.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testCal3_S2.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testSimpleCamera.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testHomography2.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testCalibratedCamera.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>check</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>clean</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testPoint2.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j3</buildArguments>
@@ -2152,7 +2250,6 @@
 			</target>
 			<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>-G DEB</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2160,7 +2257,6 @@
 			</target>
 			<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>-G RPM</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2168,7 +2264,6 @@
 			</target>
 			<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>-G TGZ</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2176,7 +2271,6 @@
 			</target>
 			<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2310,98 +2404,34 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
+				<buildArguments>-j5</buildArguments>
-				<buildTarget>testRot3.run</buildTarget>
+				<buildTarget>testSpirit.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
+				<buildArguments>-j5</buildArguments>
-				<buildTarget>testRot2.run</buildTarget>
+				<buildTarget>testWrap.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
+				<buildArguments>-j5</buildArguments>
-				<buildTarget>testPose3.run</buildTarget>
+				<buildTarget>check.wrap</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
+				<buildArguments>-j5</buildArguments>
-				<buildTarget>timeRot3.run</buildTarget>
+				<buildTarget>wrap</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testPose2.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testCal3_S2.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testSimpleCamera.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testHomography2.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testCalibratedCamera.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>check</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>clean</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testPoint2.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -2445,38 +2475,6 @@
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testSpirit.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testWrap.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>check.wrap</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>wrap</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 		</buildTargets>
 	</storageModule>
 </cproject>

gtsam/linear/HessianFactor.cpp

@@ -324,9 +324,18 @@ Matrix HessianFactor::information() const {
 double HessianFactor::error(const VectorValues& c) const {
   // error 0.5*(f - 2*x'*g + x'*G*x)
   const double f = constantTerm();
-  const double xtg = c.vector().dot(linearTerm());
+  double xtg = 0, xGx = 0;
-  const double xGx = c.vector().transpose() * info_.range(0, this->size(), 0, this->size()).selfadjointView<Eigen::Upper>() *  c.vector();
+  if (c.dim() == this->rows()) {
-
+    // If using the full vector values, this will reduce copying
+    xtg = c.vector().dot(linearTerm());
+    xGx = c.vector().transpose() * info_.range(0, this->size(), 0, this->size()).selfadjointView<Eigen::Upper>() *  c.vector();
+  } else {
+    // extract the relevant subset of the VectorValues
+    // NOTE may not be as efficient
+    const Vector x = c.subvector(this->keys());
+    xtg = x.dot(linearTerm());
+    xGx = x.transpose() * info_.range(0, this->size(), 0, this->size()).selfadjointView<Eigen::Upper>() *  x;
+  }
   return 0.5 * (f - 2.0 * xtg +  xGx);
 }
 

gtsam/linear/VectorValues.cpp

@@ -202,4 +202,28 @@ void VectorValues::swap(VectorValues& other) {
   this->maps_.swap(other.maps_);
 }
 
-}
+/* ************************************************************************* */
+Vector VectorValues::subvector(const std::vector<Index>& indices) const {
+  if (indices.empty())
+    return Vector();
+
+  // find dimensions
+  size_t d = 0;
+  BOOST_FOREACH(const Index& idx, indices)
+    d += dim(idx);
+
+  // copy out values
+  Vector result(d);
+  size_t curHead = 0;
+  BOOST_FOREACH(const Index& j, indices) {
+    const SubVector& vj = at(j);
+    size_t dj = (size_t) vj.rows();
+    result.segment(curHead, dj) = vj;
+    curHead += dj;
+  }
+  return result;
+}
+
+/* ************************************************************************* */
+
+} // \namespace gtsam

gtsam/linear/VectorValues.h

@@ -256,6 +256,9 @@ namespace gtsam {
     /** Reference the entire solution vector. */
     Vector& vector() { chk(); return values_; }
 
+    /** Access a vector that is a subset of relevant indices */
+    Vector subvector(const std::vector<Index>& indices) const;
+
     /** Check whether this VectorValues has the same structure, meaning has the
      * same number of variables and that all variables are of the same dimension,
      * as another VectorValues

gtsam/linear/tests/testHessianFactor.cpp

@@ -197,6 +197,14 @@ TEST(HessianFactor, Constructor2)
   EXPECT(assert_equal(G11, factor.info(factor.begin(), factor.begin())));
   EXPECT(assert_equal(G12, factor.info(factor.begin(), factor.begin()+1)));
   EXPECT(assert_equal(G22, factor.info(factor.begin()+1, factor.begin()+1)));
+
+  // Check case when vector values is larger than factor
+  dims.push_back(2);
+  VectorValues dxLarge(dims);
+  dxLarge[0] = dx0;
+  dxLarge[1] = dx1;
+  dxLarge[2] = Vector_(2, 0.1, 0.2);
+  EXPECT_DOUBLES_EQUAL(expected, factor.error(dxLarge), 1e-10);
 }
 
 /* ************************************************************************* */

gtsam/linear/tests/testJacobianFactor.cpp

@@ -132,6 +132,15 @@ TEST(JacobianFactor, error) {
   Vector expected_whitened = Vector_(3, 4., 5., 6.);
   Vector actual_whitened = jf.error_vector(values);
   EXPECT(assert_equal(expected_whitened, actual_whitened));
+
+  // check behavior when there are more values than in this factor
+  VectorValues largeValues(3, 3);
+  largeValues[0] = Vector_(3, 1.,2.,3.);
+  largeValues[1] = Vector_(3, 4.,5.,6.);
+  largeValues[2] = Vector_(3, 7.,8.,9.);
+
+  EXPECT(assert_equal(expected_unwhitened, jf.unweighted_error(largeValues)));
+  EXPECT(assert_equal(expected_whitened, jf.error_vector(largeValues)));
 }
 
 /* ************************************************************************* */

gtsam/linear/tests/testVectorValues.cpp

@@ -449,7 +449,19 @@ TEST(VectorValues, permute) {
 }
 
 /* ************************************************************************* */
-int main() {
+TEST(VectorValues, subvector) {
-  TestResult tr; return TestRegistry::runAllTests(tr);
+  VectorValues init;
+  init.insert(0, Vector_(1, 1.0));
+  init.insert(1, Vector_(2, 2.0, 3.0));
+  init.insert(2, Vector_(2, 4.0, 5.0));
+  init.insert(3, Vector_(2, 6.0, 7.0));
+
+  std::vector<gtsam::Index> indices;
+  indices += 0, 2, 3;
+  Vector expSubVector = Vector_(5, 1.0, 4.0, 5.0, 6.0, 7.0);
+  EXPECT(assert_equal(expSubVector, init.subvector(indices)));
 }
+
+/* ************************************************************************* */
+int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */