#include <SymmetricBlockMatrix.h>

Public Types
typedef Eigen::Block< Matrix >	Block

typedef Eigen::Block< const Matrix >	constBlock

typedef SymmetricBlockMatrix	This

Public Member Functions
DenseIndex &	blockStart ()

DenseIndex	blockStart () const

void	choleskyPartial (DenseIndex nFrontals)

DenseIndex	cols () const
	Column size. More...

DenseIndex	getDim (DenseIndex block) const
	Number of dimensions for variable on this diagonal block. More...

DenseIndex	nBlocks () const
	Block count. More...

DenseIndex	rows () const
	Row size. More...

VerticalBlockMatrix	split (DenseIndex nFrontals)

	SymmetricBlockMatrix ()
	Construct from an empty matrix (asserts that the matrix is empty) More...

template<typename CONTAINER >
	SymmetricBlockMatrix (const CONTAINER &dimensions, bool appendOneDimension=false)
	Construct from a container of the sizes of each block. More...

template<typename ITERATOR >
	SymmetricBlockMatrix (ITERATOR firstBlockDim, ITERATOR lastBlockDim, bool appendOneDimension=false)
	Construct from iterator over the sizes of each vertical block. More...

template<typename CONTAINER >
	SymmetricBlockMatrix (const CONTAINER &dimensions, const Matrix &matrix, bool appendOneDimension=false)
	Construct from a container of the sizes of each vertical block and a pre-prepared matrix. More...

Block getter methods.
Matrix	block (DenseIndex I, DenseIndex J) const

Eigen::SelfAdjointView< Block, Eigen::Upper >	diagonalBlock (DenseIndex J)
	Return the J'th diagonal block as a self adjoint view. More...

Eigen::SelfAdjointView< constBlock, Eigen::Upper >	diagonalBlock (DenseIndex J) const
	Return the J'th diagonal block as a self adjoint view. More...

Vector	diagonal (DenseIndex J) const
	Get the diagonal of the J'th diagonal block. More...

constBlock	aboveDiagonalBlock (DenseIndex I, DenseIndex J) const
	Get block above the diagonal (I, J). More...

Eigen::SelfAdjointView< constBlock, Eigen::Upper >	selfadjointView (DenseIndex I, DenseIndex J) const
	Return the square sub-matrix that contains blocks(i:j, i:j). More...

Eigen::TriangularView< constBlock, Eigen::Upper >	triangularView (DenseIndex I, DenseIndex J) const
	Return the square sub-matrix that contains blocks(i:j, i:j) as a triangular view. More...

constBlock	aboveDiagonalRange (DenseIndex i_startBlock, DenseIndex i_endBlock, DenseIndex j_startBlock, DenseIndex j_endBlock) const
	Get a range [i,j) from the matrix. Indices are in block units. More...

Block	aboveDiagonalRange (DenseIndex i_startBlock, DenseIndex i_endBlock, DenseIndex j_startBlock, DenseIndex j_endBlock)
	Get a range [i,j) from the matrix. Indices are in block units. More...

Block setter methods.
template<typename XprType >
void	setDiagonalBlock (DenseIndex I, const XprType &xpr)
	Set a diagonal block. Only the upper triangular portion of `xpr` is evaluated. More...

template<typename XprType >
void	setOffDiagonalBlock (DenseIndex I, DenseIndex J, const XprType &xpr)
	Set an off-diagonal block. Only the upper triangular portion of `xpr` is evaluated. More...

template<typename XprType >
void	updateDiagonalBlock (DenseIndex I, const XprType &xpr)
	Increment the diagonal block by the values in `xpr`. Only reads the upper triangular part of `xpr`. More...

template<typename XprType >
void	updateOffDiagonalBlock (DenseIndex I, DenseIndex J, const XprType &xpr)

Accessing the full matrix.
Eigen::SelfAdjointView< Block, Eigen::Upper >	selfadjointView ()
	Get self adjoint view. More...

Eigen::SelfAdjointView< constBlock, Eigen::Upper >	selfadjointView () const
	Get self adjoint view. More...

template<typename XprType >
void	setFullMatrix (const XprType &xpr)
	Set the entire active matrix. Only reads the upper triangular part of `xpr`. More...

void	setZero ()
	Set the entire active matrix zero. More...

void	negate ()
	Negate the entire active matrix. More...

void	invertInPlace ()
	Invert the entire active matrix in place. More...

Static Public Member Functions
static SymmetricBlockMatrix	LikeActiveViewOf (const SymmetricBlockMatrix &other)

static SymmetricBlockMatrix	LikeActiveViewOf (const VerticalBlockMatrix &other)

Protected Member Functions
void	assertInvariants () const

constBlock	block_ (DenseIndex iBlock, DenseIndex jBlock, DenseIndex blockRows=1, DenseIndex blockCols=1) const
	Get an arbitrary block from the matrix. Indices are in block units. More...

Block	block_ (DenseIndex iBlock, DenseIndex jBlock, DenseIndex blockRows=1, DenseIndex blockCols=1)
	Get an arbitrary block from the matrix. Indices are in block units. More...

std::array< DenseIndex, 4 >	calcIndices (DenseIndex iBlock, DenseIndex jBlock, DenseIndex blockRows, DenseIndex blockCols) const
	Compute the indices into the underlying matrix for a given block. More...

template<typename ITERATOR >
void	fillOffsets (ITERATOR firstBlockDim, ITERATOR lastBlockDim, bool appendOneDimension)

constBlock	full () const
	Get the full matrix as a block. More...

Block	full ()
	Get the full matrix as a block. More...

DenseIndex	nActualBlocks () const
	Number of actual blocks in the full matrix. More...

DenseIndex	nOffsets () const
	Number of offsets in the full matrix. More...

DenseIndex	offset (DenseIndex block) const
	Get an offset for a block index (in the active view). More...

Protected Attributes
DenseIndex	blockStart_
	Changes apparent matrix view, see main class comment. More...

Matrix	matrix_
	The full matrix. More...

FastVector< DenseIndex >	variableColOffsets_
	the starting columns of each block (0-based) More...

Private Member Functions
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Friends
class	boost::serialization::access

template<typename SymmetricBlockMatrixType >
class	SymmetricBlockMatrixBlockExpr

class	VerticalBlockMatrix

Detailed Description

Definition at line 51 of file SymmetricBlockMatrix.h.

Member Typedef Documentation

typedef Eigen::Block<Matrix> gtsam::SymmetricBlockMatrix::Block

Definition at line 55 of file SymmetricBlockMatrix.h.

typedef Eigen::Block<const Matrix> gtsam::SymmetricBlockMatrix::constBlock

Definition at line 56 of file SymmetricBlockMatrix.h.

typedef SymmetricBlockMatrix gtsam::SymmetricBlockMatrix::This

Definition at line 54 of file SymmetricBlockMatrix.h.

Constructor & Destructor Documentation

gtsam::SymmetricBlockMatrix::SymmetricBlockMatrix ( )

inline

Construct from an empty matrix (asserts that the matrix is empty)

Definition at line 66 of file SymmetricBlockMatrix.h.

template<typename CONTAINER >

gtsam::SymmetricBlockMatrix::SymmetricBlockMatrix	(	const CONTAINER &	dimensions,
		bool	appendOneDimension = `false`
	)

inline

Construct from a container of the sizes of each block.

Definition at line 75 of file SymmetricBlockMatrix.h.

template<typename ITERATOR >

gtsam::SymmetricBlockMatrix::SymmetricBlockMatrix	(	ITERATOR	firstBlockDim,
		ITERATOR	lastBlockDim,
		bool	appendOneDimension = `false`
	)

inline

Construct from iterator over the sizes of each vertical block.

Definition at line 85 of file SymmetricBlockMatrix.h.

template<typename CONTAINER >

gtsam::SymmetricBlockMatrix::SymmetricBlockMatrix	(	const CONTAINER &	dimensions,
		const Matrix &	matrix,
		bool	appendOneDimension = `false`
	)

inline

Construct from a container of the sizes of each vertical block and a pre-prepared matrix.

Definition at line 95 of file SymmetricBlockMatrix.h.

Member Function Documentation

constBlock gtsam::SymmetricBlockMatrix::aboveDiagonalBlock	(	DenseIndex	I,
		DenseIndex	J
	)		const

inline

Get block above the diagonal (I, J).

Definition at line 155 of file SymmetricBlockMatrix.h.

constBlock gtsam::SymmetricBlockMatrix::aboveDiagonalRange	(	DenseIndex	i_startBlock,
		DenseIndex	i_endBlock,
		DenseIndex	j_startBlock,
		DenseIndex	j_endBlock
	)		const

inline

Get a range [i,j) from the matrix. Indices are in block units.

Definition at line 175 of file SymmetricBlockMatrix.h.

Block gtsam::SymmetricBlockMatrix::aboveDiagonalRange	(	DenseIndex	i_startBlock,
		DenseIndex	i_endBlock,
		DenseIndex	j_startBlock,
		DenseIndex	j_endBlock
	)

inline

Get a range [i,j) from the matrix. Indices are in block units.

Definition at line 186 of file SymmetricBlockMatrix.h.

void gtsam::SymmetricBlockMatrix::assertInvariants ( ) const

inlineprotected

Definition at line 373 of file SymmetricBlockMatrix.h.

Matrix gtsam::SymmetricBlockMatrix::block	(	DenseIndex	I,
		DenseIndex	J
	)		const

Get a copy of a block (anywhere in the matrix). This method makes a copy - use the methods below if performance is critical.

Definition at line 54 of file SymmetricBlockMatrix.cpp.

constBlock gtsam::SymmetricBlockMatrix::block_	(	DenseIndex	iBlock,
		DenseIndex	jBlock,
		DenseIndex	blockRows = `1`,
		DenseIndex	blockCols = `1`
	)		const

inlineprotected

Get an arbitrary block from the matrix. Indices are in block units.

Definition at line 333 of file SymmetricBlockMatrix.h.

Block gtsam::SymmetricBlockMatrix::block_	(	DenseIndex	iBlock,
		DenseIndex	jBlock,
		DenseIndex	blockRows = `1`,
		DenseIndex	blockCols = `1`
	)

inlineprotected

Get an arbitrary block from the matrix. Indices are in block units.

Definition at line 341 of file SymmetricBlockMatrix.h.

DenseIndex& gtsam::SymmetricBlockMatrix::blockStart ( )

inline

Retrieve or modify the first logical block, i.e. the block referenced by block index 0. Blocks before it will be inaccessible, except by accessing the underlying matrix using matrix().

Definition at line 287 of file SymmetricBlockMatrix.h.

DenseIndex gtsam::SymmetricBlockMatrix::blockStart ( ) const

inline

Retrieve the first logical block, i.e. the block referenced by block index 0. Blocks before it will be inaccessible, except by accessing the underlying matrix using matrix().

Definition at line 291 of file SymmetricBlockMatrix.h.

std::array<DenseIndex, 4> gtsam::SymmetricBlockMatrix::calcIndices	(	DenseIndex	iBlock,
		DenseIndex	jBlock,
		DenseIndex	blockRows,
		DenseIndex	blockCols
	)		const

inlineprotected

Compute the indices into the underlying matrix for a given block.

Definition at line 359 of file SymmetricBlockMatrix.h.

void gtsam::SymmetricBlockMatrix::choleskyPartial ( DenseIndex nFrontals )

Given the augmented Hessian [A1'A1 A1'A2 A1'b A2'A1 A2'A2 A2'b b'A1 b'A2 b'b] on x1 and x2, does partial Cholesky in-place to obtain [R Sd;0 L] such that R'R = A1'A1 R'Sd = [A1'A2 A1'b] L'L is the augmented Hessian on the the separator x2 R and Sd can be interpreted as a GaussianConditional |R*x1 + S*x2 - d]^2

Definition at line 65 of file SymmetricBlockMatrix.cpp.

DenseIndex gtsam::SymmetricBlockMatrix::cols ( void ) const

inline

Column size.

Definition at line 122 of file SymmetricBlockMatrix.h.

Vector gtsam::SymmetricBlockMatrix::diagonal ( DenseIndex J ) const

inline

Get the diagonal of the J'th diagonal block.

Definition at line 150 of file SymmetricBlockMatrix.h.

Eigen::SelfAdjointView<Block, Eigen::Upper> gtsam::SymmetricBlockMatrix::diagonalBlock ( DenseIndex J )

inline

Return the J'th diagonal block as a self adjoint view.

Definition at line 140 of file SymmetricBlockMatrix.h.

Eigen::SelfAdjointView<constBlock, Eigen::Upper> gtsam::SymmetricBlockMatrix::diagonalBlock ( DenseIndex J ) const

inline

Return the J'th diagonal block as a self adjoint view.

Definition at line 145 of file SymmetricBlockMatrix.h.

template<typename ITERATOR >

void gtsam::SymmetricBlockMatrix::fillOffsets	(	ITERATOR	firstBlockDim,
		ITERATOR	lastBlockDim,
		bool	appendOneDimension
	)

inlineprotected

Definition at line 381 of file SymmetricBlockMatrix.h.

constBlock gtsam::SymmetricBlockMatrix::full ( ) const

inlineprotected

Get the full matrix as a block.

Definition at line 349 of file SymmetricBlockMatrix.h.

Block gtsam::SymmetricBlockMatrix::full ( )

inlineprotected

Get the full matrix as a block.

Definition at line 354 of file SymmetricBlockMatrix.h.

DenseIndex gtsam::SymmetricBlockMatrix::getDim ( DenseIndex block ) const

inline

Number of dimensions for variable on this diagonal block.

Definition at line 128 of file SymmetricBlockMatrix.h.

void gtsam::SymmetricBlockMatrix::invertInPlace ( )

inline

Invert the entire active matrix in place.

Definition at line 273 of file SymmetricBlockMatrix.h.

SymmetricBlockMatrix gtsam::SymmetricBlockMatrix::LikeActiveViewOf ( const SymmetricBlockMatrix & other )

static

Copy the block structure, but do not copy the matrix data. If blockStart() has been modified, this copies the structure of the corresponding matrix view. In the destination SymmetricBlockMatrix, blockStart() will be 0.

Definition at line 28 of file SymmetricBlockMatrix.cpp.

SymmetricBlockMatrix gtsam::SymmetricBlockMatrix::LikeActiveViewOf ( const VerticalBlockMatrix & other )

static

Copy the block structure, but do not copy the matrix data. If blockStart() has been modified, this copies the structure of the corresponding matrix view. In the destination SymmetricBlockMatrix, blockStart() will be 0.

Definition at line 41 of file SymmetricBlockMatrix.cpp.

DenseIndex gtsam::SymmetricBlockMatrix::nActualBlocks ( ) const

inlineprotected

Number of actual blocks in the full matrix.

Definition at line 320 of file SymmetricBlockMatrix.h.

DenseIndex gtsam::SymmetricBlockMatrix::nBlocks ( ) const

inline

Block count.

Definition at line 125 of file SymmetricBlockMatrix.h.

void gtsam::SymmetricBlockMatrix::negate ( )

inline

Negate the entire active matrix.

Definition at line 268 of file SymmetricBlockMatrix.h.

DenseIndex gtsam::SymmetricBlockMatrix::nOffsets ( ) const

inlineprotected

Number of offsets in the full matrix.

Definition at line 315 of file SymmetricBlockMatrix.h.

DenseIndex gtsam::SymmetricBlockMatrix::offset ( DenseIndex block ) const

inlineprotected

Get an offset for a block index (in the active view).

Definition at line 325 of file SymmetricBlockMatrix.h.

DenseIndex gtsam::SymmetricBlockMatrix::rows ( void ) const

inline

Row size.

Definition at line 119 of file SymmetricBlockMatrix.h.

Eigen::SelfAdjointView<constBlock, Eigen::Upper> gtsam::SymmetricBlockMatrix::selfadjointView	(	DenseIndex	I,
		DenseIndex	J
	)		const

inline

Return the square sub-matrix that contains blocks(i:j, i:j).

Definition at line 161 of file SymmetricBlockMatrix.h.

Eigen::SelfAdjointView<Block, Eigen::Upper> gtsam::SymmetricBlockMatrix::selfadjointView ( )

inline

Get self adjoint view.

Definition at line 247 of file SymmetricBlockMatrix.h.

Eigen::SelfAdjointView<constBlock, Eigen::Upper> gtsam::SymmetricBlockMatrix::selfadjointView ( ) const

inline

Get self adjoint view.

Definition at line 252 of file SymmetricBlockMatrix.h.

template<class ARCHIVE >

void gtsam::SymmetricBlockMatrix::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 404 of file SymmetricBlockMatrix.h.

template<typename XprType >

void gtsam::SymmetricBlockMatrix::setDiagonalBlock	(	DenseIndex	I,
		const XprType &	xpr
	)

inline

Set a diagonal block. Only the upper triangular portion of xpr is evaluated.

Definition at line 200 of file SymmetricBlockMatrix.h.

template<typename XprType >

void gtsam::SymmetricBlockMatrix::setFullMatrix ( const XprType & xpr )

inline

Set the entire active matrix. Only reads the upper triangular part of xpr.

Definition at line 258 of file SymmetricBlockMatrix.h.

template<typename XprType >

void gtsam::SymmetricBlockMatrix::setOffDiagonalBlock	(	DenseIndex	I,
		DenseIndex	J,
		const XprType &	xpr
	)

inline

Set an off-diagonal block. Only the upper triangular portion of xpr is evaluated.

Definition at line 206 of file SymmetricBlockMatrix.h.

void gtsam::SymmetricBlockMatrix::setZero ( )

inline

Set the entire active matrix zero.

Definition at line 263 of file SymmetricBlockMatrix.h.

VerticalBlockMatrix gtsam::SymmetricBlockMatrix::split ( DenseIndex nFrontals )

After partial Cholesky, we can optionally split off R and Sd, to be interpreted as a GaussianConditional |R*x1 + S*x2 - d]^2. We leave the symmetric lower block L in place, and adjust block_start so now *this refers to it.

Definition at line 74 of file SymmetricBlockMatrix.cpp.

Eigen::TriangularView<constBlock, Eigen::Upper> gtsam::SymmetricBlockMatrix::triangularView	(	DenseIndex	I,
		DenseIndex	J
	)		const

inline

Return the square sub-matrix that contains blocks(i:j, i:j) as a triangular view.

Definition at line 168 of file SymmetricBlockMatrix.h.

template<typename XprType >

void gtsam::SymmetricBlockMatrix::updateDiagonalBlock	(	DenseIndex	I,
		const XprType &	xpr
	)

inline

Increment the diagonal block by the values in xpr. Only reads the upper triangular part of xpr.

Definition at line 217 of file SymmetricBlockMatrix.h.

template<typename XprType >

void gtsam::SymmetricBlockMatrix::updateOffDiagonalBlock	(	DenseIndex	I,
		DenseIndex	J,
		const XprType &	xpr
	)

inline

Update an off diagonal block. NOTE(emmett): This assumes noalias().

Definition at line 233 of file SymmetricBlockMatrix.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 402 of file SymmetricBlockMatrix.h.

template<typename SymmetricBlockMatrixType >

friend class SymmetricBlockMatrixBlockExpr

friend

Definition at line 398 of file SymmetricBlockMatrix.h.

friend class VerticalBlockMatrix

friend

Definition at line 397 of file SymmetricBlockMatrix.h.

Member Data Documentation

DenseIndex gtsam::SymmetricBlockMatrix::blockStart_

protected

Changes apparent matrix view, see main class comment.

Definition at line 62 of file SymmetricBlockMatrix.h.

Matrix gtsam::SymmetricBlockMatrix::matrix_

protected

The full matrix.

Definition at line 59 of file SymmetricBlockMatrix.h.

FastVector<DenseIndex> gtsam::SymmetricBlockMatrix::variableColOffsets_

protected

the starting columns of each block (0-based)

Definition at line 60 of file SymmetricBlockMatrix.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation