gtsam  4.0.0
gtsam::Scatter Class Reference

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: