From b837cb1b03de0eb2537abad86941a4a740bb3b44 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 14 Feb 2014 13:18:46 -0500 Subject: [PATCH] Declared hessianBlockDiagonal --- gtsam/linear/GaussianFactor.h | 3 +++ gtsam/linear/HessianFactor.h | 3 +++ gtsam/linear/JacobianFactor.h | 3 +++ 3 files changed, 9 insertions(+) diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h index f91e07d5b..58eaf4460 100644 --- a/gtsam/linear/GaussianFactor.h +++ b/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 hessianBlockDiagonal() const = 0; + /** Clone a factor (make a deep copy) */ virtual GaussianFactor::shared_ptr clone() const = 0; diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index d6b4781d9..18c238e57 100644 --- a/gtsam/linear/HessianFactor.h +++ b/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 hessianBlockDiagonal() const; + /** * Return (dense) matrix associated with factor * @param ordering of variables needed for matrix column order diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 9041c8a8a..a444d514a 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/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 hessianBlockDiagonal() const; + /** * @brief Returns (dense) A,b pair associated with factor, bakes in the weights */