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const correctness

release/4.3a0
Frank Dellaert 2013-10-29 04:58:51 +00:00
parent 3c33e44c46
commit daf5938577
5 changed files with 5 additions and 5 deletions
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2
gtsam/linear/GaussianFactor.h
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@ -107,7 +107,7 @@ namespace gtsam {
virtual GaussianFactor::shared_ptr negate() const = 0; virtual GaussianFactor::shared_ptr negate() const = 0;
/// y += alpha * A'*A*x /// y += alpha * A'*A*x
virtual void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) = 0; virtual void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const = 0;
/// A'*b for Jacobian, eta for Hessian /// A'*b for Jacobian, eta for Hessian
virtual VectorValues gradientAtZero() const = 0; virtual VectorValues gradientAtZero() const = 0;

2
gtsam/linear/HessianFactor.cpp
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@ -501,7 +501,7 @@ GaussianFactor::shared_ptr HessianFactor::negate() const
/* ************************************************************************* */ /* ************************************************************************* */
void HessianFactor::multiplyHessianAdd(double alpha, const VectorValues& x, void HessianFactor::multiplyHessianAdd(double alpha, const VectorValues& x,
VectorValues& y) { VectorValues& y) const {
for (size_t i = 0; i < size(); ++i) { for (size_t i = 0; i < size(); ++i) {
pair<VectorValues::iterator, bool> it = y.tryInsert(keys_[i], Vector()); pair<VectorValues::iterator, bool> it = y.tryInsert(keys_[i], Vector());

2
gtsam/linear/HessianFactor.h
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@ -357,7 +357,7 @@ namespace gtsam {
void updateATA(const HessianFactor& update, const Scatter& scatter); void updateATA(const HessianFactor& update, const Scatter& scatter);
/** y += alpha * A'*A*x */ /** y += alpha * A'*A*x */
void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y); void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const;
/// eta for Hessian /// eta for Hessian
VectorValues gradientAtZero() const; VectorValues gradientAtZero() const;

2
gtsam/linear/JacobianFactor.cpp
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@ -434,7 +434,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
void JacobianFactor::multiplyHessianAdd(double alpha, const VectorValues& x, void JacobianFactor::multiplyHessianAdd(double alpha, const VectorValues& x,
VectorValues& y) { VectorValues& y) const {
Vector Ax = (*this)*x; Vector Ax = (*this)*x;
transposeMultiplyAdd(alpha,Ax,y); transposeMultiplyAdd(alpha,Ax,y);
} }

2
gtsam/linear/JacobianFactor.h
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@ -260,7 +260,7 @@ namespace gtsam {
Vector operator*(const VectorValues& x) const; Vector operator*(const VectorValues& x) const;
/** y += alpha * A'*A*x */ /** y += alpha * A'*A*x */
void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y); void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const;
/** x += A'*e. If x is initially missing any values, they are created and assumed to start as /** x += A'*e. If x is initially missing any values, they are created and assumed to start as
* zero vectors. */ * zero vectors. */