timing/DummyFactor.h

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#pragma once
 
#include <gtsam/slam/RegularImplicitSchurFactor.h>
 
namespace gtsam {
 
template<typename CAMERA> //
class DummyFactor: public RegularImplicitSchurFactor<CAMERA> {
 
public:
 
  typedef Eigen::Matrix<double, 2, CAMERA::dimension> Matrix2D;
  typedef std::pair<Key, Matrix2D> KeyMatrix2D;
 
  DummyFactor() {
  }
 
  DummyFactor(const std::vector<KeyMatrix2D>& Fblocks, const Matrix& E,
      const Matrix3& P, const Vector& b) :
      RegularImplicitSchurFactor<CAMERA>(Fblocks, E, P, b) {
  }
 
  virtual ~DummyFactor() {
  }
 
public:
 
  void multiplyHessian(double alpha, const VectorValues& x,
      VectorValues& y) const {
 
    for(const KeyMatrix2D& Fi: this->Fblocks_) {
      static const Vector empty;
      Key key = Fi.first;
      std::pair<VectorValues::iterator, bool> it = y.tryInsert(key, empty);
      Vector& yi = it.first->second;
      yi = x.at(key);
    }
  }
 
};
// DummyFactor
 
}