Sparse matrix which using blocks. More...
#include <sparse_block_matrix.h>
Public Types | |
| typedef std::map< int, SparseMatrixBlock * > | IntBlockMap |
| typedef MatrixType | SparseMatrixBlock |
| this is the type of the elementary block, it is an Eigen::Matrix. | |
Public Member Functions | |
| bool | add (SparseBlockMatrix< MatrixType > *&dest) const |
| adds the current matrix to the destination | |
| SparseMatrixBlock * | block (int r, int c, bool alloc=false) |
| const SparseMatrixBlock * | block (int r, int c) const |
| returns the block at location r,c | |
| const std::vector< IntBlockMap > & | blockCols () const |
| the block matrices per block-column | |
| std::vector< IntBlockMap > & | blockCols () |
| void | clear (bool dealloc=false) |
| SparseBlockMatrix * | clone () const |
| deep copy of a sparse-block-matrix; | |
| int | colBaseOfBlock (int c) const |
| where does the col at block-col r starts? | |
| const std::vector< int > & | colBlockIndices () const |
| indices of the column blocks | |
| std::vector< int > & | colBlockIndices () |
| int | cols () const |
| columns of the matrix | |
| int | colsOfBlock (int c) const |
| how many cols does the block at block-col c has? | |
| void | fillBlockStructure (MatrixStructure &ms) const |
| exports the non zero blocks in the structure matrix ms | |
| int | fillCCS (int *Cp, int *Ci, double *Cx, bool upperTriangle=false) const |
| Fill the CCS arrays of a matrix, arrays have to be allocated beforehand. | |
| int | fillCCS (double *Cx, bool upperTriangle=false) const |
| template<class MatrixResultType , class MatrixFactorType > | |
| bool | multiply (SparseBlockMatrix< MatrixResultType > *&dest, const SparseBlockMatrix< MatrixFactorType > *M) const |
| dest = (*this) * M | |
| void | multiply (double *&dest, const double *src) const |
| dest = (*this) * src | |
| size_t | nonZeroBlocks () const |
| number of allocated blocks | |
| size_t | nonZeros () const |
| number of non-zero elements | |
| void | rightMultiply (double *&dest, const double *src) const |
| dest = M * (*this) | |
| int | rowBaseOfBlock (int r) const |
| where does the row at block-row r starts? | |
| const std::vector< int > & | rowBlockIndices () const |
| indices of the row blocks | |
| std::vector< int > & | rowBlockIndices () |
| int | rows () const |
| rows of the matrix | |
| int | rowsOfBlock (int r) const |
| how many rows does the block at block-row r has? | |
| void | scale (double a) |
| *this *= a | |
| SparseBlockMatrix * | slice (int rmin, int rmax, int cmin, int cmax, bool alloc=true) const |
| SparseBlockMatrix (const int *rbi, const int *cbi, int rb, int cb, bool hasStorage=true) | |
| SparseBlockMatrix () | |
| bool | symmPermutation (SparseBlockMatrix< MatrixType > *&dest, const int *pinv, bool onlyUpper=false) const |
| template<class MatrixTransposedType > | |
| bool | transpose (SparseBlockMatrix< MatrixTransposedType > *&dest) const |
| bool | writeOctave (const char *filename, bool upperTriangle=true) const |
| ~SparseBlockMatrix () | |
Protected Attributes | |
| std::vector< IntBlockMap > | _blockCols |
| std::vector< int > | _colBlockIndices |
| bool | _hasStorage |
| std::vector< int > | _rowBlockIndices |
| vector of the indices of the blocks along the rows. | |
Sparse matrix which using blocks.
Template class that specifies a sparse block matrix. A block matrix is a sparse matrix made of dense blocks. These blocks cannot have a random pattern, but follow a (variable) grid structure. This structure is specified by a partition of the rows and the columns of the matrix. The blocks are represented by the Eigen::Matrix structure, thus they can be statically or dynamically allocated. For efficiency reasons it is convenient to allocate them statically, when possible. A static block matrix has all blocks of the same size, and the size of rhe block is specified by the template argument. If this is not the case, and you have different block sizes than you have to use a dynamic-block matrix (default template argument).
Definition at line 49 of file sparse_block_matrix.h.
| typedef std::map<int, SparseMatrixBlock*> g2o::SparseBlockMatrix< MatrixType >::IntBlockMap |
Definition at line 62 of file sparse_block_matrix.h.
| typedef MatrixType g2o::SparseBlockMatrix< MatrixType >::SparseMatrixBlock |
this is the type of the elementary block, it is an Eigen::Matrix.
Definition at line 53 of file sparse_block_matrix.h.
| g2o::SparseBlockMatrix< MatrixType >::SparseBlockMatrix | ( | const int * | rbi, |
| const int * | cbi, | ||
| int | rb, | ||
| int | cb, | ||
| bool | hasStorage = true |
||
| ) |
constructs a sparse block matrix having a specific layout
| rbi,: | array of int containing the row layout of the blocks. the component i of the array should contain the index of the first row of the block i+1. |
| rbi,: | array of int containing the column layout of the blocks. the component i of the array should contain the index of the first col of the block i+1. |
| rb,: | number of row blocks |
| cb,: | number of col blocks |
| hasStorage,: | set it to true if the matrix "owns" the blocks, thus it deletes it on destruction. if false the matrix is only a "view" over an existing structure. |
Definition at line 48 of file sparse_block_matrix.hpp.
| g2o::SparseBlockMatrix< MatrixType >::SparseBlockMatrix | ( | ) |
Definition at line 60 of file sparse_block_matrix.hpp.
| g2o::SparseBlockMatrix< MatrixType >::~SparseBlockMatrix | ( | ) |
Definition at line 91 of file sparse_block_matrix.hpp.
| bool g2o::SparseBlockMatrix< MatrixType >::add | ( | SparseBlockMatrix< MatrixType > *& | dest | ) | const |
adds the current matrix to the destination
Definition at line 224 of file sparse_block_matrix.hpp.
| SparseBlockMatrix< MatrixType >::SparseMatrixBlock * g2o::SparseBlockMatrix< MatrixType >::block | ( | int | r, |
| int | c, | ||
| bool | alloc = false |
||
| ) |
Returns the block at location r,c. if alloc=true he block is created if it does not exist
Definition at line 103 of file sparse_block_matrix.hpp.
| const SparseBlockMatrix< MatrixType >::SparseMatrixBlock * g2o::SparseBlockMatrix< MatrixType >::block | ( | int | r, |
| int | c | ||
| ) | const |
returns the block at location r,c
Definition at line 137 of file sparse_block_matrix.hpp.
| const std::vector<IntBlockMap>& g2o::SparseBlockMatrix< MatrixType >::blockCols | ( | ) | const [inline] |
the block matrices per block-column
Definition at line 195 of file sparse_block_matrix.h.
| std::vector<IntBlockMap>& g2o::SparseBlockMatrix< MatrixType >::blockCols | ( | ) | [inline] |
Definition at line 196 of file sparse_block_matrix.h.
| void g2o::SparseBlockMatrix< MatrixType >::clear | ( | bool | dealloc = false | ) |
This zeroes all the blocks. If dealloc=true the blocks are removed from memory
Definition at line 68 of file sparse_block_matrix.hpp.
| SparseBlockMatrix< MatrixType > * g2o::SparseBlockMatrix< MatrixType >::clone | ( | void | ) | const |
deep copy of a sparse-block-matrix;
Definition at line 148 of file sparse_block_matrix.hpp.
| int g2o::SparseBlockMatrix< MatrixType >::colBaseOfBlock | ( | int | c | ) | const [inline] |
where does the col at block-col r starts?
Definition at line 122 of file sparse_block_matrix.h.
| const std::vector<int>& g2o::SparseBlockMatrix< MatrixType >::colBlockIndices | ( | ) | const [inline] |
indices of the column blocks
Definition at line 203 of file sparse_block_matrix.h.
| std::vector<int>& g2o::SparseBlockMatrix< MatrixType >::colBlockIndices | ( | ) | [inline] |
Definition at line 204 of file sparse_block_matrix.h.
| int g2o::SparseBlockMatrix< MatrixType >::cols | ( | void | ) | const [inline] |
columns of the matrix
Definition at line 56 of file sparse_block_matrix.h.
| int g2o::SparseBlockMatrix< MatrixType >::colsOfBlock | ( | int | c | ) | const [inline] |
how many cols does the block at block-col c has?
Definition at line 110 of file sparse_block_matrix.h.
| void g2o::SparseBlockMatrix< MatrixType >::fillBlockStructure | ( | MatrixStructure & | ms | ) | const |
exports the non zero blocks in the structure matrix ms
Definition at line 739 of file sparse_block_matrix.hpp.
| int g2o::SparseBlockMatrix< MatrixType >::fillCCS | ( | int * | Cp, |
| int * | Ci, | ||
| double * | Cx, | ||
| bool | upperTriangle = false |
||
| ) | const |
Fill the CCS arrays of a matrix, arrays have to be allocated beforehand.
Definition at line 700 of file sparse_block_matrix.hpp.
| int g2o::SparseBlockMatrix< MatrixType >::fillCCS | ( | double * | Cx, |
| bool | upperTriangle = false |
||
| ) | const |
Fill the CCS arrays of a matrix, arrays have to be allocated beforehand. This function only writes the values and assumes that column and row structures have already been written.
Definition at line 666 of file sparse_block_matrix.hpp.
| bool g2o::SparseBlockMatrix< MatrixType >::multiply | ( | SparseBlockMatrix< MatrixResultType > *& | dest, |
| const SparseBlockMatrix< MatrixFactorType > * | M | ||
| ) | const |
dest = (*this) * M
Definition at line 272 of file sparse_block_matrix.hpp.
| void g2o::SparseBlockMatrix< MatrixType >::multiply | ( | double *& | dest, |
| const double * | src | ||
| ) | const |
dest = (*this) * src
Definition at line 380 of file sparse_block_matrix.hpp.
| size_t g2o::SparseBlockMatrix< MatrixType >::nonZeroBlocks | ( | ) | const |
number of allocated blocks
Definition at line 517 of file sparse_block_matrix.hpp.
| size_t g2o::SparseBlockMatrix< MatrixType >::nonZeros | ( | ) | const |
number of non-zero elements
Definition at line 528 of file sparse_block_matrix.hpp.
| void g2o::SparseBlockMatrix< MatrixType >::rightMultiply | ( | double *& | dest, |
| const double * | src | ||
| ) | const |
dest = M * (*this)
Definition at line 416 of file sparse_block_matrix.hpp.
| int g2o::SparseBlockMatrix< MatrixType >::rowBaseOfBlock | ( | int | r | ) | const [inline] |
where does the row at block-row r starts?
Definition at line 118 of file sparse_block_matrix.h.
| const std::vector<int>& g2o::SparseBlockMatrix< MatrixType >::rowBlockIndices | ( | ) | const [inline] |
indices of the row blocks
Definition at line 199 of file sparse_block_matrix.h.
| std::vector<int>& g2o::SparseBlockMatrix< MatrixType >::rowBlockIndices | ( | ) | [inline] |
Definition at line 200 of file sparse_block_matrix.h.
| int g2o::SparseBlockMatrix< MatrixType >::rows | ( | void | ) | const [inline] |
rows of the matrix
Definition at line 59 of file sparse_block_matrix.h.
| int g2o::SparseBlockMatrix< MatrixType >::rowsOfBlock | ( | int | r | ) | const [inline] |
how many rows does the block at block-row r has?
Definition at line 102 of file sparse_block_matrix.h.
| void g2o::SparseBlockMatrix< MatrixType >::scale | ( | double | a | ) |
*this *= a
Definition at line 454 of file sparse_block_matrix.hpp.
| SparseBlockMatrix< MatrixType > * g2o::SparseBlockMatrix< MatrixType >::slice | ( | int | rmin, |
| int | rmax, | ||
| int | cmin, | ||
| int | cmax, | ||
| bool | alloc = true |
||
| ) | const |
Returns a view or a copy of the block matrix
| rmin,: | starting block row |
| rmax,: | ending block row |
| cmin,: | starting block col |
| cmax,: | ending block col |
| alloc,: | if true it makes a deep copy, if false it creates a view. |
Definition at line 473 of file sparse_block_matrix.hpp.
| bool g2o::SparseBlockMatrix< MatrixType >::symmPermutation | ( | SparseBlockMatrix< MatrixType > *& | dest, |
| const int * | pinv, | ||
| bool | onlyUpper = false |
||
| ) | const |
Writes in dest a block permutaton specified by pinv.
| pinv,: | array such that new_block[i] = old_block[pinv[i]] |
Definition at line 589 of file sparse_block_matrix.hpp.
| bool g2o::SparseBlockMatrix< MatrixType >::transpose | ( | SparseBlockMatrix< MatrixTransposedType > *& | dest | ) | const |
Transposes a block matrix, The transposed type should match the argument false on failure
Definition at line 179 of file sparse_block_matrix.hpp.
| bool g2o::SparseBlockMatrix< MatrixType >::writeOctave | ( | const char * | filename, |
| bool | upperTriangle = true |
||
| ) | const |
write the content of this matrix to a stream loadable by Octave
| upperTriangle | does this matrix store only the upper triangular blocks |
Definition at line 777 of file sparse_block_matrix.hpp.
std::vector<IntBlockMap> g2o::SparseBlockMatrix< MatrixType >::_blockCols [protected] |
Array of maps of blocks. The index of the array represent a block column of the matrix and the block column is stored as a map row_block -> matrix_block_ptr.
Definition at line 225 of file sparse_block_matrix.h.
std::vector<int> g2o::SparseBlockMatrix< MatrixType >::_colBlockIndices [protected] |
Definition at line 218 of file sparse_block_matrix.h.
bool g2o::SparseBlockMatrix< MatrixType >::_hasStorage [protected] |
Definition at line 227 of file sparse_block_matrix.h.
std::vector<int> g2o::SparseBlockMatrix< MatrixType >::_rowBlockIndices [protected] |
vector of the indices of the blocks along the rows.
vector of the indices of the blocks along the cols
Definition at line 217 of file sparse_block_matrix.h.