* Implementation of the general parts for computing the inverse blocks of the * linear system matrix. Here we call a function to do the underlying

* Implementation of the general parts for computing the inverse blocks of the * linear system matrix. Here we call a function to do the underlying

* sort the blocks in each column */

* does this solver support the Schur complement for solving a system * consisting of poses and landmarks. Re-implement in a derived solver, if *

The contents of this function are C++ specific, so the () macro is not used. */

convert to a 3D vector (x, y, theta)

return the tolerance for terminating PCG before convergence

transforms

return the diameter of the trust region

* unlock the block of the hessian and the b vector associated with this * vertex */

* the viewer uses a display list to cache the drawing, use setUpdateDisplay() * to force the creation of an updated display list. */

the user data associated with this vertex

return the lambda set by the user, if < 0 the SparseOptimizer will compute the initial lambda

return the size of the solution vector (x) and b

returns the vertex number <i>id</i> appropriately casted