Specialized HessianFactor class for regular problems (fixed-size blocks). More...

Classes
class	gtsam::RegularHessianFactor< D >
	A HessianFactor where all variables have the same dimension D. More...
struct	gtsam::traits< RegularHessianFactor< D > >

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Detailed Description

Specialized HessianFactor class for regular problems (fixed-size blocks).

This factor is specifically designed for quadratic cost functions where all variables involved have the same, fixed dimension D. It stores the Hessian and gradient terms and provides optimized methods for operations like Hessian-vector products, crucial for iterative solvers like Conjugate Gradient. It ensures that all involved blocks have the expected dimension D.

Author: Sungtae An; Frank Dellaert

Date: March 2014

Classes

Namespaces

Detailed Description