Raw memory in Hessian should be templated

[Frank Dellaert]

See

HessianFactor.cpp (3 matches)
366: typedef Eigen::Matrix<double, 9, 1> DVector; 
556: typedef Eigen::Matrix<double, Eigen::Dynamic, 1> DVector; 
607: typedef Eigen::Matrix<double, 9, 1> DVector; 
JacobianFactor.cpp (2 matches)
468: typedef Eigen::Matrix<double, 9, 1> DVector; 
535: typedef Eigen::Matrix<double, Eigen::Dynamic, 1> DVector; 

[Chris Beall]

Unsure about this. hessianDiagonal(double* d) makes the fundamental assumption that all variables are the same size to index into vector d. There also seems to be an implicit assumption that all keys are contiguous & zero-based? Iirc, @lucacarlone mentioned something about moving this elsewhere? Thoughts?

[Luca Carlone]

quick answer: hessianDiagonal (raw access) is no longer in Hessian factors, but has been moved to regularHessianFactors (same for Jacobians). @stan84 , can you confirm that what I said is right in "develop"? (maybe it is still in a brach)

[Sungtae An]

Yes, it is still in the RegularFactors branch. @cbeall3 can we merge this brach? I guess you told me that you want to do some modification related with templated things..

[Chris Beall]

I have no objection to merging. Create a pull request? The remaining template changes I wanted to make follow up on some of the stuff that's already made it into develop, but do not yet appear in the RegularFactors branch because it's quite behind. I didn't want to move any more template stuff around until RegularFactors & develop got synced up. Whether it's RegularFactors->develop or the other way around, doesn't really matter to me :-)

[Sungtae An]

Okay, I will create a pull request then.

[Chris Beall]

Issue #67 was marked as a duplicate of this issue.

[Chris Beall]

Resolved with pull request #68