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Default empty noisemodel in JacobianFactor constructors

release/4.3a0
Richard Roberts 2013-07-12 22:27:31 +00:00
parent c48593daf1
commit f41a3db2b8
1 changed files with 5 additions and 5 deletions
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10
gtsam/linear/JacobianFactorUnordered.h
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@ -102,23 +102,23 @@ namespace gtsam {
/** Construct unary factor */ /** Construct unary factor */
JacobianFactorUnordered(Key i1, const Matrix& A1, JacobianFactorUnordered(Key i1, const Matrix& A1,
const Vector& b, const SharedDiagonal& model); const Vector& b, const SharedDiagonal& model = SharedDiagonal());
/** Construct binary factor */ /** Construct binary factor */
JacobianFactorUnordered(Key i1, const Matrix& A1, JacobianFactorUnordered(Key i1, const Matrix& A1,
Key i2, const Matrix& A2, Key i2, const Matrix& A2,
const Vector& b, const SharedDiagonal& model); const Vector& b, const SharedDiagonal& model = SharedDiagonal());
/** Construct ternary factor */ /** Construct ternary factor */
JacobianFactorUnordered(Key i1, const Matrix& A1, Key i2, JacobianFactorUnordered(Key i1, const Matrix& A1, Key i2,
const Matrix& A2, Key i3, const Matrix& A3, const Matrix& A2, Key i3, const Matrix& A3,
const Vector& b, const SharedDiagonal& model); const Vector& b, const SharedDiagonal& model = SharedDiagonal());
/** Construct an n-ary factor /** Construct an n-ary factor
* @tparam TERMS A container whose value type is std::pair<Key, Matrix>, specifying the * @tparam TERMS A container whose value type is std::pair<Key, Matrix>, specifying the
* collection of keys and matrices making up the factor. */ * collection of keys and matrices making up the factor. */
template<typename TERMS> template<typename TERMS>
JacobianFactorUnordered(const TERMS& terms, const Vector& b, const SharedDiagonal& model); JacobianFactorUnordered(const TERMS& terms, const Vector& b, const SharedDiagonal& model = SharedDiagonal());
/** Constructor with arbitrary number keys, and where the augmented matrix is given all together /** 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 * instead of in block terms. Note that only the active view of the provided augmented matrix
@ -126,7 +126,7 @@ namespace gtsam {
* factor. */ * factor. */
template<typename KEYS> template<typename KEYS>
JacobianFactorUnordered( JacobianFactorUnordered(
const KEYS& keys, const VerticalBlockMatrix& augmentedMatrix, const SharedDiagonal& sigmas); const KEYS& keys, const VerticalBlockMatrix& augmentedMatrix, const SharedDiagonal& sigmas = SharedDiagonal());
/** Convert from a HessianFactor (does Cholesky) */ /** Convert from a HessianFactor (does Cholesky) */
//JacobianFactorUnordered(const HessianFactor& factor); //JacobianFactorUnordered(const HessianFactor& factor);