where does the col at block-col r starts?

* return the workspace for a vertex in an edge */

* tests whether there is a NaN in the array */

returns the level of the edge

* override in your class if it's possible to initialize the vertices in certain combinations. * The return value may correspond to the cost f

the optimizer (graph) on which the solver works

* calculate the robust information matrix by updating the information matrix of the error */

rows of the matrix

set the row of this vertex in the Hessian

true => this node should be marginalized out during the optimization