/* ************************************************************************* */
Errors GaussianFactorGraph::operator*(const VectorValues& x) const {
Errors e;
BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, *this) {
JacobianFactor::shared_ptr Ai = convertToJacobianFactorPtr(Ai_G);
e.push_back((*Ai) * x);
}
return e;
}
/* ************************************************************************* */
Errors Errors::operator-(const Errors& b) const {
#ifndef NDEBUG
size_t m = size();
if (b.size()!=m)
throw(std::invalid_argument("Errors::operator-: incompatible sizes"));
#endif
Errors result;
Errors::const_iterator it = b.begin();
BOOST_FOREACH(const Vector& ai, *this)
result.push_back(ai - *(it++));
return result;
}
/* ************************************************************************* */
Errors Errors::operator-() const {
Errors result;
BOOST_FOREACH(const Vector& ai, *this)
result.push_back(-ai);
return result;
}
