24 template<
typename KEYS>
30 throw std::invalid_argument(
31 "Error in HessianFactor constructor input. Number of provided keys plus\n"
32 "one for the information vector must equal the number of provided matrix blocks. ");
36 throw std::invalid_argument(
37 "Error in HessianFactor constructor input. The last provided matrix block\n"
38 "must be the information vector, but the last provided block had more than one column.");
Global functions in a separate testing namespace.
Definition chartTesting.h:28
ptrdiff_t DenseIndex
The index type for Eigen objects.
Definition types.h:106
This class stores a dense matrix and allows it to be accessed as a collection of blocks.
Definition SymmetricBlockMatrix.h:52
KeyVector keys_
The keys involved in this factor.
Definition Factor.h:85
size_t size() const
Definition Factor.h:157
An abstract virtual base class for JacobianFactor and HessianFactor.
Definition GaussianFactor.h:39
Matrix augmentedInformation() const override
Return the augmented information matrix represented by this GaussianFactor.
Definition HessianFactor.cpp:282
HessianFactor()
default constructor for I/O
Definition HessianFactor.cpp:77