Detailed Description

Scatter is an intermediate data structure used when building a HessianFactor incrementally, to get the keys in the right order.

In spirit, it is a map from global variable indices to slot indices in the union of involved variables. We also include the dimensionality of the variable.

Inheritance diagram for gtsam::Scatter:

Public Member Functions
	Scatter ()
	Default Constructor.

	Scatter (const GaussianFactorGraph &gfg, boost::optional< const Ordering & > ordering=boost::none)
	Construct from gaussian factor graph, with optional (partial or complete) ordering.

void	add (Key key, size_t dim)
	Add a key/dim pair.

The documentation for this class was generated from the following files:

/Users/dellaert/git/gtsam/gtsam/linear/Scatter.h
/Users/dellaert/git/gtsam/gtsam/linear/Scatter.cpp

Detailed Description

Public Member Functions