RegularHessianFactor.h File Reference

Specialized HessianFactor class for regular problems (fixed-size blocks). More...

#include <gtsam/linear/HessianFactor.h>
#include <gtsam/linear/RegularJacobianFactor.h>
#include <gtsam/linear/VectorValues.h>
#include <vector>
#include <stdexcept>

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Classes
class	gtsam::RegularHessianFactor< D >
	A HessianFactor where all variables have the same dimension D. More...
struct	gtsam::traits< RegularHessianFactor< D > >

Namespaces
	gtsam
	traits

Detailed Description

Specialized HessianFactor class for regular problems (fixed-size blocks).

This factor is specifically designed for quadratic cost functions where all variables involved have the same, fixed dimension D. It stores the Hessian and gradient terms and provides optimized methods for operations like Hessian-vector products, crucial for iterative solvers like Conjugate Gradient. It ensures that all involved blocks have the expected dimension D.

Author

Sungtae An

Frank Dellaert

Date

March 2014

Definition in file RegularHessianFactor.h.