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release/4.3a0
Yong-Dian Jian 2012-04-17 14:21:13 +00:00
parent 4aed1656fb
commit ef5a24a59c
1 changed files with 6 additions and 0 deletions
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6
gtsam/linear/JacobianFactor.h
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@ -196,12 +196,18 @@ namespace gtsam {
/** Get a view of the A matrix for the variable pointed to by the given key iterator */ /** 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()); } 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) */ /** Get a view of the r.h.s. vector b (non-const version) */
BVector getb() { return Ab_.column(size(), 0); } 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) */ /** 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()); } 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 */ /** Return A*x */
Vector operator*(const VectorValues& x) const; Vector operator*(const VectorValues& x) const;