Declared hessianBlockDiagonal

gtsam/linear/GaussianFactor.h

@@ -99,6 +99,9 @@ namespace gtsam {
     /// Return the diagonal of the Hessian for this factor
     virtual VectorValues hessianDiagonal() const = 0;
 
+    /// Return the block diagonal of the Hessian for this factor
+    virtual std::map<Key,Matrix> hessianBlockDiagonal() const = 0;
+
     /** Clone a factor (make a deep copy) */
     virtual GaussianFactor::shared_ptr clone() const = 0;
 

gtsam/linear/HessianFactor.h

@@ -339,6 +339,9 @@ namespace gtsam {
     /// Return the diagonal of the Hessian for this factor
     virtual VectorValues hessianDiagonal() const;
 
+    /// Return the block diagonal of the Hessian for this factor
+    virtual std::map<Key,Matrix> hessianBlockDiagonal() const;
+
     /**
      * Return (dense) matrix associated with factor
      * @param ordering of variables needed for matrix column order

gtsam/linear/JacobianFactor.h

@@ -184,6 +184,9 @@ namespace gtsam {
     /// Return the diagonal of the Hessian for this factor
     virtual VectorValues hessianDiagonal() const;
 
+    /// Return the block diagonal of the Hessian for this factor
+    virtual std::map<Key,Matrix> hessianBlockDiagonal() const;
+
     /**
      * @brief Returns (dense) A,b pair associated with factor, bakes in the weights
      */