linear solver which allows to update the cholesky factor More...

#include <linear_solver_cholmod_online.h>

Inheritance diagram for g2o::LinearSolverCholmodOnline< MatrixType >:

Public Member Functions
bool	blockOrdering () const
int	choleskyUpdate (cholmod_sparse *update)
void	computeSymbolicDecomposition (const SparseBlockMatrix< MatrixType > &A)
void	fillCholmodExt (const SparseBlockMatrix< MatrixType > &A, bool onlyValues)
virtual bool	init ()
cholmod_factor *	L () const
	LinearSolverCholmodOnline ()
bool	solve (const SparseBlockMatrix< MatrixType > &A, double x, double b)
bool	solve (double x, double b)
virtual	~LinearSolverCholmodOnline ()
Protected Attributes
bool	_blockOrdering
VectorXi	_blockPermutation
cholmod_common	_cholmodCommon
cholmod_factor *	_cholmodFactor
CholmodExt *	_cholmodSparse
MatrixStructure	_matrixStructure
VectorXi	_scalarPermutation

Detailed Description

template<typename MatrixType>
class g2o::LinearSolverCholmodOnline< MatrixType >

linear solver which allows to update the cholesky factor

Definition at line 44 of file linear_solver_cholmod_online.h.

Constructor & Destructor Documentation

template<typename MatrixType>

g2o::LinearSolverCholmodOnline< MatrixType >::LinearSolverCholmodOnline ( ) [inline]

Definition at line 47 of file linear_solver_cholmod_online.h.

template<typename MatrixType>

virtual g2o::LinearSolverCholmodOnline< MatrixType >::~LinearSolverCholmodOnline ( ) [inline, virtual]

Definition at line 63 of file linear_solver_cholmod_online.h.

Member Function Documentation

template<typename MatrixType>

bool g2o::LinearSolverCholmodOnline< MatrixType >::blockOrdering ( ) const [inline]

Definition at line 115 of file linear_solver_cholmod_online.h.

template<typename MatrixType>

int g2o::LinearSolverCholmodOnline< MatrixType >::choleskyUpdate ( cholmod_sparse * update ) [inline, virtual]

Implements g2o::LinearSolverCholmodOnlineInterface.

Definition at line 119 of file linear_solver_cholmod_online.h.

template<typename MatrixType>

void g2o::LinearSolverCholmodOnline< MatrixType >::computeSymbolicDecomposition ( const SparseBlockMatrix< MatrixType > & A ) [inline]

Definition at line 157 of file linear_solver_cholmod_online.h.

template<typename MatrixType>

void g2o::LinearSolverCholmodOnline< MatrixType >::fillCholmodExt	(	const SparseBlockMatrix< MatrixType > &	A,
		bool	onlyValues
	)		`[inline]`

Definition at line 200 of file linear_solver_cholmod_online.h.

template<typename MatrixType>

virtual bool g2o::LinearSolverCholmodOnline< MatrixType >::init ( ) [inline, virtual]

init for operating on matrices with a different non-zero pattern like before

Implements g2o::LinearSolver< MatrixType >.

Definition at line 73 of file linear_solver_cholmod_online.h.

template<typename MatrixType>

cholmod_factor* g2o::LinearSolverCholmodOnline< MatrixType >::L ( ) const [inline, virtual]

Implements g2o::LinearSolverCholmodOnlineInterface.

Definition at line 117 of file linear_solver_cholmod_online.h.

template<typename MatrixType>

bool g2o::LinearSolverCholmodOnline< MatrixType >::solve	(	const SparseBlockMatrix< MatrixType > &	A,
		double *	x,
		double *	b
	)		`[inline, virtual]`

Assumes that A has the same non-zero pattern over several calls. If the pattern changes call init() before. solve system Ax = b, x and b have to allocated beforehand!!

Implements g2o::LinearSolver< MatrixType >.

Definition at line 78 of file linear_solver_cholmod_online.h.

template<typename MatrixType>