Check docs in linear
Issue #45
new
And this:
Does this
/** Return the <em>upper-triangular part</em> of the full *augmented* information matrix,
* as described above. See HessianFactor class documentation above to explain that only the
* upper-triangular part of the information matrix is stored and returned by this function.
*/
SymmetricBlockMatrix::constBlock info() const { return info_.full(); }
now return a fully symmetric matrix ?
If so, is the transpose fill below still necessary?
Matrix GaussianFactorGraph::augmentedHessian(
boost::optional<const Ordering&> optionalOrdering) const {
// combine all factors and get upper-triangular part of Hessian
HessianFactor combined(*this, Scatter(*this, optionalOrdering));
Matrix result = combined.info();
// Fill in lower-triangular part of Hessian
result.triangularView<Eigen::StrictlyLower>() = result.transpose();
return result;
}