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32 template<
int M,
int N1,
int N2>
53 gttic(updateHessian_BinaryJacobianFactor);
57 if (
model->isConstrained())
58 throw std::invalid_argument(
59 "BinaryJacobianFactor::updateHessian: cannot update information with "
60 "constrained noise model");
76 info->diagonalBlock(slot1).rankUpdate(
A1.transpose());
77 info->updateOffDiagonalBlock(slot1, slot2,
A1.transpose() *
A2);
78 info->updateOffDiagonalBlock(slot1, slotB,
A1.transpose() *
b);
79 info->diagonalBlock(slot2).rankUpdate(
A2.transpose());
80 info->updateOffDiagonalBlock(slot2, slotB,
A2.transpose() *
b);
81 info->updateDiagonalBlock(slotB,
b.transpose() *
b);
86 template<
int M,
int N1,
int N2>
88 BinaryJacobianFactor<M, N1, N2> > {
Expression of a fixed-size or dynamic-size block.
const SharedDiagonal & get_model() const
void updateHessian(const KeyVector &infoKeys, SymmetricBlockMatrix *info) const override
const_iterator begin() const
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
const constBVector getb() const
Access to matrices via blocks of pre-defined sizes. Used in GaussianFactor and GaussianConditional.
noiseModel::Diagonal::shared_ptr SharedDiagonal
const_iterator end() const
noiseModel::Diagonal::shared_ptr model
KeyVector keys_
The keys involved in this factor.
ptrdiff_t DenseIndex
The index type for Eigen objects.
const Matrix & matrix() const
static DenseIndex Slot(const CONTAINER &keys, Key key)
The matrix class, also used for vectors and row-vectors.
std::uint64_t Key
Integer nonlinear key type.
BinaryJacobianFactor(Key key1, const Eigen::Matrix< double, M, N1 > &A1, Key key2, const Eigen::Matrix< double, M, N2 > &A2, const Eigen::Matrix< double, M, 1 > &b, const SharedDiagonal &model=SharedDiagonal())
Constructor.
Matrix< RealScalar, Dynamic, Dynamic > M
gtsam
Author(s):
autogenerated on Sun Dec 22 2024 04:11:12