From be5d30c57a6c27192173073d42c3744146ec2340 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 25 Jan 2025 15:10:30 -0500
Subject: [PATCH] rvalue constructor

---
 gtsam/linear/JacobianFactor-inl.h | 41 ++++++++++++++++++++++---------
 gtsam/linear/JacobianFactor.h     | 22 +++++++++++------
 2 files changed, 44 insertions(+), 19 deletions(-)

diff --git a/gtsam/linear/JacobianFactor-inl.h b/gtsam/linear/JacobianFactor-inl.h
index 6c4cb969a..c1ef25520 100644
--- a/gtsam/linear/JacobianFactor-inl.h
+++ b/gtsam/linear/JacobianFactor-inl.h
@@ -30,26 +30,43 @@ namespace gtsam {
   }
 
   /* ************************************************************************* */
-  template<typename KEYS>
-  JacobianFactor::JacobianFactor(
-    const KEYS& keys, const VerticalBlockMatrix& augmentedMatrix, const SharedDiagonal& model) :
-  Base(keys), Ab_(augmentedMatrix)
-  {
+  template <typename KEYS>
+  JacobianFactor::JacobianFactor(const KEYS& keys,
+                                 const VerticalBlockMatrix& augmentedMatrix,
+                                 const SharedDiagonal& model)
+      : Base(keys), Ab_(augmentedMatrix) {
+    checkAndAssignModel(model, augmentedMatrix);
+  }
+
+  /* ************************************************************************* */
+  template <typename KEYS>
+  JacobianFactor::JacobianFactor(const KEYS& keys,
+                                 VerticalBlockMatrix&& augmentedMatrix,
+                                 const SharedDiagonal& model)
+      : Base(keys), Ab_(std::move(augmentedMatrix)) {
+    checkAndAssignModel(model, Ab_);
+  }
+
+  /* ************************************************************************* */
+  void JacobianFactor::checkAndAssignModel(
+      const SharedDiagonal& model, const VerticalBlockMatrix& augmentedMatrix) {
     // Check noise model dimension
-    if(model && (DenseIndex)model->dim() != augmentedMatrix.rows())
+    if (model && (DenseIndex)model->dim() != augmentedMatrix.rows())
       throw InvalidNoiseModel(augmentedMatrix.rows(), model->dim());
 
     // Check number of variables
-    if((DenseIndex)Base::keys_.size() != augmentedMatrix.nBlocks() - 1)
+    if ((DenseIndex)Base::keys_.size() != augmentedMatrix.nBlocks() - 1)
       throw std::invalid_argument(
-      "Error in JacobianFactor constructor input.  Number of provided keys plus\n"
-      "one for the RHS vector must equal the number of provided matrix blocks.");
+          "Error in JacobianFactor constructor input. Number of provided keys "
+          "plus one for the RHS vector must equal the number of provided "
+          "matrix blocks.");
 
     // Check RHS dimension
-    if(augmentedMatrix(augmentedMatrix.nBlocks() - 1).cols() != 1)
+    if (augmentedMatrix(augmentedMatrix.nBlocks() - 1).cols() != 1)
       throw std::invalid_argument(
-      "Error in JacobianFactor constructor input.  The last provided matrix block\n"
-      "must be the RHS vector, but the last provided block had more than one column.");
+          "Error in JacobianFactor constructor input. The last provided "
+          "matrix block must be the RHS vector, but the last provided block "
+          "had more than one column.");
 
     // Take noise model
     model_ = model;
diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h
index a9933374f..1e82eb051 100644
--- a/gtsam/linear/JacobianFactor.h
+++ b/gtsam/linear/JacobianFactor.h
@@ -145,13 +145,17 @@ namespace gtsam {
     template<typename TERMS>
     JacobianFactor(const TERMS& terms, const Vector& b, const SharedDiagonal& model = SharedDiagonal());
 
-    /** Constructor with arbitrary number keys, and where the augmented matrix is given all together
-     *  instead of in block terms.  Note that only the active view of the provided augmented matrix
-     *  is used, and that the matrix data is copied into a newly-allocated matrix in the constructed
-     *  factor. */
-    template<typename KEYS>
-    JacobianFactor(
-      const KEYS& keys, const VerticalBlockMatrix& augmentedMatrix, const SharedDiagonal& sigmas = SharedDiagonal());
+    /** Constructor with arbitrary number keys, and where the augmented matrix
+     * is given all together instead of in block terms.
+     */
+    template <typename KEYS>
+    JacobianFactor(const KEYS& keys, const VerticalBlockMatrix& augmentedMatrix,
+                   const SharedDiagonal& sigmas = SharedDiagonal());
+
+    /** Construct with an rvalue VerticalBlockMatrix, to allow std::move. */
+    template <typename KEYS>
+    JacobianFactor(const KEYS& keys, VerticalBlockMatrix&& augmentedMatrix,
+                   const SharedDiagonal& model);
 
     /**
      * Build a dense joint factor from all the factors in a factor graph.  If a VariableSlots
@@ -398,6 +402,10 @@ namespace gtsam {
     template<typename TERMS>
     void fillTerms(const TERMS& terms, const Vector& b, const SharedDiagonal& noiseModel);
 
+    /// Common code between VerticalBlockMatrix constructors
+    void checkAndAssignModel(const SharedDiagonal& model,
+                             const VerticalBlockMatrix& augmentedMatrix);
+
   private:
 
     /**