gtsam::KeyInfo Class Reference

Detailed Description

Ordered key dimensions and offsets in one flattened variable vector.

The map provides lookup by key. ordering() defines block order, each entry stores the matching order index and scalar prefix, and numCols() is the sum of all block dimensions.

Inheritance diagram for gtsam::KeyInfo:

Public Member Functions
	KeyInfo ()=default
	Construct an empty layout.
	KeyInfo (const GaussianFactorGraph &graph)
	Construct from a Gaussian factor graph in natural key order.
	KeyInfo (const GaussianFactorGraph &graph, const Ordering &ordering)
	Construct from a graph in the supplied complete ordering.
	KeyInfo (const std::map< Key, size_t > &dimensions)
	Construct from dimensions in ascending key order.
	KeyInfo (const std::map< Key, size_t > &dimensions, const Ordering &ordering)
	Construct from dimensions in the supplied complete ordering.
size_t	numCols () const
	Return the total scalar dimension.
const Ordering &	ordering () const
	Return the key block ordering.
std::vector< size_t >	colSpec () const
	Return block dimensions in ordering() order.
VectorValues	x0 () const
	Return zero-valued keyed blocks with these dimensions.
Vector	x0vector () const
	Return one zero-valued flat vector with total dimension numCols().

Public Types
using	Base = std::map<Key, KeyInfoEntry>

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/linear/KeyInfo.h
• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/linear/KeyInfo.cpp