From ef5a24a59ccff1987d3c23fa02e58a2240b66fee Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Tue, 17 Apr 2012 14:21:13 +0000 Subject: [PATCH] --- gtsam/linear/JacobianFactor.h | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 5a756e43b..b5a2dd500 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -196,12 +196,18 @@ namespace gtsam { /** Get a view of the A matrix for the variable pointed to by the given key iterator */ constABlock getA(const_iterator variable) const { return Ab_(variable - begin()); } + /** Get a view of the A matrix */ + constABlock getA() const { return Ab_.range(0, size()); } + /** Get a view of the r.h.s. vector b (non-const version) */ BVector getb() { return Ab_.column(size(), 0); } /** Get a view of the A matrix for the variable pointed to by the given key iterator (non-const version) */ ABlock getA(iterator variable) { return Ab_(variable - begin()); } + /** Get a view of the A matrix */ + ABlock getA() { return Ab_.range(0, size()); } + /** Return A*x */ Vector operator*(const VectorValues& x) const;