/* ************************************************************************* */
double dot(const Errors& a, const Errors& b) {
#ifndef NDEBUG
size_t m = a.size();
if (b.size()!=m)
throw(std::invalid_argument("Errors::dot: incompatible sizes"));
#endif
double result = 0.0;
Errors::const_iterator it = b.begin();
BOOST_FOREACH(const Vector& ai, a)
result += gtsam::dot(ai, *(it++));
return result;
}
/* ************************************************************************* */
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;
}
/* ************************************************************************* */
void GaussianFactorGraph::multiplyInPlace(const VectorValues& x, Errors& e) const {
multiplyInPlace(x, e.begin());
}
bool Errors::equals(const Errors& expected, double tol) const {
if( size() != expected.size() ) return false;
return equal(begin(),end(),expected.begin(),equalsVector(tol));
}
void axpy<Errors,Errors>(double alpha, const Errors& x, Errors& y) {
Errors::const_iterator it = x.begin();
BOOST_FOREACH(Vector& yi, y)
axpy(alpha,*(it++),yi);
}