additional sparseJacobian functions (new)
#677
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| /// Constructs an Eigen-format SparseMatrix of a GaussianFactorGraph | ||
| SpMat sparseJacobianEigen( | ||
| const GaussianFactorGraph &gfg, const Ordering &ordering) { | ||
| // TODO(gerry): eliminate copy/pasta by making GaussianFactorGraph version |
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I thought you had done that already? Or is that "the next PR" ?
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Ya, I was under the impression that you wanted just the bare minimum thing needed for A->B, which is efficient code for returning an Eigen-sparse-matrix format jacobian?
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But I'm more than happy to put that in this PR
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No, my comment on the other PR was not that these more generic, copy/pasta avoiding functions were not useful, just that they should be inside gfg.h, and then used in a small header-only function for the Eigen version.
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So, I propose you merge this, then create a next PR with those utilities to get rid of copy/pasta. No sense in throwing away that work.
This replaces #610 to reduce commit- and diff- noise.
The purpose of this PR is to provide a convenience function for obtaining the sparse (augmented) Jacobian of a GaussianFactorGraph.
Note that, as it stands, 99% of this PR is copy-pasta from GaussianFactorGraph::sparseJacobian(). Although I would prefer to make a version that is more elegant, this is the original way Mandy/Fan's code was written and I guess we can do that in a future PR. I added a TODO.