additional sparseJacobian functions (new)
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…ure/fan/Eigen # Conflicts: # gtsam/nonlinear/NonlinearOptimizer.cpp # tests/testPCGSolver.cpp
…sparseJacobian2 Mandy and Fan's version of sparse Eigen
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Sorry, I used a "merge" instead of "cherry-pick" because I thought it would better preserve history, but now it is way too messy. Closing and trying again. |
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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.