24 template<
typename KEYS>
30 throw std::invalid_argument(
31 "Error in HessianFactor constructor input. Number of provided keys plus\n" 32 "one for the information vector must equal the number of provided matrix blocks. ");
35 if(augmentedInformation.
getDim(augmentedInformation.
nBlocks() - 1) != 1)
36 throw std::invalid_argument(
37 "Error in HessianFactor constructor input. The last provided matrix block\n" 38 "must be the information vector, but the last provided block had more than one column.");
size_t size() const
Definition: Factor.h:159
KeyVector keys_
The keys involved in this factor.
Definition: Factor.h:87
ptrdiff_t DenseIndex
The index type for Eigen objects.
Definition: types.h:108
Definition: GaussianFactor.h:38
Definition: SymmetricBlockMatrix.h:53
DenseIndex nBlocks() const
Block count.
Definition: SymmetricBlockMatrix.h:122
Definition: chartTesting.h:28
DenseIndex getDim(DenseIndex block) const
Number of dimensions for variable on this diagonal block.
Definition: SymmetricBlockMatrix.h:125