From bb9ada6c7a73af97311aa0ec4acc7e6d2c2796c6 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 14 Feb 2014 13:39:36 -0500 Subject: [PATCH] declared hessianBlockDiagonal --- gtsam/linear/GaussianFactorGraph.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index fc104a961..28b9eab55 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -224,6 +224,9 @@ namespace gtsam { /** Return only the diagonal of the Hessian A'*A, as a VectorValues */ VectorValues hessianDiagonal() const; + /** Return the block diagonal of the Hessian for this factor */ + std::map hessianBlockDiagonal() const; + /** Solve the factor graph by performing multifrontal variable elimination in COLAMD order using * the dense elimination function specified in \c function (default EliminatePreferCholesky), * followed by back-substitution in the Bayes tree resulting from elimination. Is equivalent