Added function to return the augmented information matrix

2011-09-16 05:30:41 +00:00 · 2011-09-16 05:30:41 +00:00 · 57ae0aac38
parent f07d846954
commit 57ae0aac38
1 changed files with 3 additions and 0 deletions
--- a/gtsam/linear/HessianFactor.h
+++ b/gtsam/linear/HessianFactor.h
@ -210,6 +210,9 @@ namespace gtsam {
     */
    constBlock info(const_iterator j1, const_iterator j2) const { return info_(j1-begin(), j2-begin()); }

+    /** Return the full *augmented* information matrix, as described above */
+    constBlock info() const { return info_.full(); }
+
    /** Return the constant term \f$ f \f$ as described above
     * @return The constant term \f$ f \f$
     */