Closed furgalep closed 9 years ago
@rdube @gawela Please review. This will break your stuff in the other repo.
@sanderson77 @mikebosse Comments?
instead of using a map of coefficients, would it make any sense to use a vector of smart pointers to coefficients? then we wouldn't be copying the values of the coefficient too much, and we wouldn't have the overheads of a map.
lgtm
This pull addresses our discussion today on how to better interface GTSAM.
Coefficients
class can wrap the gtsamValues
class to avoid any copying when callingevaluate()
evaluate()
, andvoid getJacobians()
for interfacing GTSAM. These take the Coefficients class instead of a vector of coefficients.