Detailed Description

Handy data structure for iterative solvers.

Inheritance diagram for gtsam::KeyInfo:

Public Member Functions
	KeyInfo ()
	Default Constructor.

	KeyInfo (const GaussianFactorGraph &fg)
	Construct from Gaussian factor graph, use "Natural" ordering.

	KeyInfo (const GaussianFactorGraph &fg, const Ordering &ordering)
	Construct from Gaussian factor graph and a given ordering.

size_t	numCols () const
	Return the total number of columns (scalar variables = sum of dimensions)

const Ordering &	ordering () const
	Return the ordering.

std::vector< size_t >	colSpec () const
	Return a vector of dimensions ordered by ordering()

VectorValues	x0 () const
	Return VectorValues with zeros, of correct dimension.

Vector	x0vector () const
	Return zero Vector of correct dimension.

Public Types
typedef std::map< Key, KeyInfoEntry >	Base

Protected Member Functions
void	initialize (const GaussianFactorGraph &fg)

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

Public Member Functions