WIP: Resolve "Complete state vector new data structure?"

Closes #287 (closed)

Continues in !358 (closed)

include/core/state_block/state_block.h

@@ -147,7 +147,10 @@ public:
         void resetLocalParamUpdated();
 
         virtual void setIdentity(bool _notify = true);
-        virtual void setZero    (bool _notify = true);
+        void setZero    (bool _notify = true);
+
+        virtual Eigen::VectorXd identity() const;
+        Eigen::VectorXd zero()     const;
 
         /** \brief perturb state
          */
@@ -299,6 +302,14 @@ inline void StateBlock::setZero(bool _notify)
     setIdentity(_notify);
 }
 
+inline Eigen::VectorXd StateBlock::identity() const
+{
+    return Eigen::VectorXd::Zero(state_size_);
+}
+inline Eigen::VectorXd StateBlock::zero()     const
+{
+    return identity();
+}
 
 }// namespace wolf