Cholesky.h
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00001 
00028 #pragma once
00029 
00030 #include <Eigen/Dense>
00031 
00032 #include "SparseSystem.h"
00033 
00034 namespace isam {
00035 
00036 class Cholesky {
00037 public:
00038   virtual ~Cholesky() {}
00039 
00047   virtual void factorize(const SparseSystem& Ab, Eigen::VectorXd* delta = NULL, double lambda = 0.) = 0;
00048 
00054   virtual void get_R(SparseSystem& R) = 0;
00055 
00060   virtual int* get_order() = 0;
00061 
00062   static Cholesky* Create();
00063 
00064 protected:
00065   Cholesky() {}
00066 };
00067 
00068 }


demo_lidar
Author(s): Ji Zhang
autogenerated on Sun Mar 1 2015 11:30:50