12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added matlab interfaces to GaussianFactorGraph to use ordered dense hessians/jacobians

release/4.3a0
Alex Cunningham 2013-10-30 15:54:03 +00:00
parent 855e2aa18c
commit c5f8f5b5da
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam.h
View File

@ -1299,9 +1299,13 @@ class GaussianFactorGraph {
// Conversion to matrices
Matrix sparseJacobian_() const;
Matrix augmentedJacobian() const;
Matrix augmentedJacobian(const gtsam::Ordering& ordering) const;
pair<Matrix,Vector> jacobian() const;
pair<Matrix,Vector> jacobian(const gtsam::Ordering& ordering) const;
Matrix augmentedHessian() const;
Matrix augmentedHessian(const gtsam::Ordering& ordering) const;
pair<Matrix,Vector> hessian() const;
pair<Matrix,Vector> hessian(const gtsam::Ordering& ordering) const;
// enabling serialization functionality
void serialize() const;