/* ************************************************************************* */
VectorValues GaussianFactorGraph::gradientAtZero() const {
// Zero-out the gradient
VectorValues g;
BOOST_FOREACH(const sharedFactor& factor, *this) {
VectorValues gi = factor->gradientAtZero();
g.addInPlace_(gi);
}
return g;
}
/* ************************************************************************* */
VectorValues GaussianFactorGraph::hessianDiagonal() const {
VectorValues d;
BOOST_FOREACH(const sharedFactor& factor, *this) {
if(factor){
VectorValues di = factor->hessianDiagonal();
d.addInPlace_(di);
}
}
return d;
}