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25 using namespace gtsam;
34 const vector<pair<Key, Matrix> > terms {{0,
A1}, {1,
A2}, {3,
A3}};
57 RegularHessianFactor<2> factor2(0, 1, 3, G11, G12, G13,
g1, G22, G23,
g2, G33, g3,
f);
62 vector<Matrix> Gs {G11, G12, G13, G22, G23, G33};
63 vector<Vector> gs {
g1,
g2, g3};
79 vector<size_t> dims {2, 2, 2};
88 HessianFactor::const_iterator
i1 = factor.
begin();
89 HessianFactor::const_iterator i2 =
i1 + 1;
91 Vector Y(6);
Y << 9, 12, 9, 12, 9, 12;
104 actualVV.
insert(0, Vector2::Zero());
105 actualVV.
insert(1, Vector2::Zero());
106 actualVV.
insert(3, Vector2::Zero());
111 Vector expected_y(8); expected_y << 9, 12, 9, 12, 0, 0, 9, 12;
112 Vector fast_y = Vector8::Zero();
113 double xvalues[8] = {1,2,3,4,0,0,5,6};
static int runAllTests(TestResult &result)
Linear Factor Graph where all factors are Gaussians.
Matrix augmentedInformation() const override
#define EXPECT(condition)
Pose3 g1(Rot3(), Point3(100.0, 0.0, 300.0))
iterator insert(const std::pair< Key, Vector > &key_value)
GaussianFactorGraphValuePair Y
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
const SymmetricBlockMatrix & info() const
Return underlying information matrix.
const_iterator begin() const
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
HessianFactor class with constant sized blocks.
Pose3 g2(g1.expmap(h *V1_g1))
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
Matrix information() const override
TEST(RegularHessianFactor, Constructors)
IsDerived< DERIVEDFACTOR > push_back(std::shared_ptr< DERIVEDFACTOR > factor)
Add a factor directly using a shared_ptr.
Eigen::SelfAdjointView< Block, Eigen::Upper > diagonalBlock(DenseIndex J)
Return the J'th diagonal block as a self adjoint view.
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
void multiplyHessianAdd(double alpha, const VectorValues &x, VectorValues &y) const override
constBlock aboveDiagonalBlock(DenseIndex I, DenseIndex J) const
Get block above the diagonal (I, J).
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:41:15