Basis.cpp

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
#include <gtsam/basis/Basis.h>
 
namespace gtsam {
 
Matrix kroneckerProductIdentity(size_t M, const Weights& w) {
  Matrix result(M, w.cols() * M);
  result.setZero();
 
  for (int i = 0; i < w.cols(); i++) {
    result.block(0, i * M, M, M).diagonal().array() = w(i);
  }
  return result;
}
 
}  // namespace gtsam