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make Jacobian/Hessian cast functions static to use them in other places. TODO: move them to GaussianFactor

release/4.3a0
thduynguyen 2014-04-18 12:21:34 -04:00
parent 416111b0ef
commit b8a2223572
1 changed files with 5 additions and 3 deletions
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8
gtsam/linear/QPSolver.h
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@ -136,20 +136,22 @@ public:
/** Optimize */
VectorValues optimize(const VectorValues& initials) const;
private:
/// Convert a Gaussian factor to a jacobian. return empty shared ptr if failed
JacobianFactor::shared_ptr toJacobian(const GaussianFactor::shared_ptr& factor) const {
/// TODO: Move to GaussianFactor?
static JacobianFactor::shared_ptr toJacobian(const GaussianFactor::shared_ptr& factor) {
JacobianFactor::shared_ptr jacobian(
boost::dynamic_pointer_cast<JacobianFactor>(factor));
return jacobian;
}
/// Convert a Gaussian factor to a Hessian. Return empty shared ptr if failed
HessianFactor::shared_ptr toHessian(const GaussianFactor::shared_ptr factor) const {
/// TODO: Move to GaussianFactor?
static HessianFactor::shared_ptr toHessian(const GaussianFactor::shared_ptr factor) {
HessianFactor::shared_ptr hessian(boost::dynamic_pointer_cast<HessianFactor>(factor));
return hessian;
}
private:
/// Collect all free Hessians involving constrained variables into a graph
GaussianFactorGraph::shared_ptr unconstrainedHessiansOfConstrainedVars(
const GaussianFactorGraph& graph, const KeySet& constrainedVars) const;