g2o::LinearSolver< MatrixType > Class Template Reference

basic solver for Ax = b More...

#include <linear_solver.h>

Inheritance diagram for g2o::LinearSolver< MatrixType >:

Public Member Functions
virtual bool	init ()=0
	LinearSolver ()
virtual void	setWriteDebug (bool)
virtual bool	solve (const SparseBlockMatrix< MatrixType > &A, double *x, double *b)=0
virtual bool	solveBlocks (double **&blocks, const SparseBlockMatrix< MatrixType > &A)
virtual bool	solvePattern (SparseBlockMatrix< MatrixXd > &spinv, const std::vector< std::pair< int, int > > &blockIndices, const SparseBlockMatrix< MatrixType > &A)
virtual bool	writeDebug () const
	write a debug dump of the system matrix if it is not PSD in solve More...
virtual	~LinearSolver ()

Detailed Description

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

basic solver for Ax = b

basic solver for Ax = b which has to reimplemented for different linear algebra libraries. A is assumed to be symmetric (only upper triangular block is stored) and positive-semi-definit.

Definition at line 41 of file linear_solver.h.

Constructor & Destructor Documentation

template<typename MatrixType>

g2o::LinearSolver< MatrixType >::LinearSolver ( )

inline

Definition at line 44 of file linear_solver.h.

template<typename MatrixType>

virtual g2o::LinearSolver< MatrixType >::~LinearSolver ( )

inlinevirtual

Definition at line 45 of file linear_solver.h.

Member Function Documentation

template<typename MatrixType>

virtual bool g2o::LinearSolver< MatrixType >::init ( )

pure virtual

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

Implemented in g2o::LinearSolverEigen< MatrixType >, and g2o::LinearSolverDense< MatrixType >.

template<typename MatrixType>

virtual void g2o::LinearSolver< MatrixType >::setWriteDebug ( bool  )

inlinevirtual

Reimplemented in g2o::LinearSolverEigen< MatrixType >.

Definition at line 80 of file linear_solver.h.

template<typename MatrixType>

virtual bool g2o::LinearSolver< MatrixType >::solve ( const SparseBlockMatrix< MatrixType > &  A, double *  x, double *  b  )

pure virtual

Assumes that A is the same matrix for several calls. Among other assumptions, the non-zero pattern does not change! If the matrix changes call init() before. solve system Ax = b, x and b have to allocated beforehand!!

Implemented in g2o::LinearSolverEigen< MatrixType >, and g2o::LinearSolverDense< MatrixType >.

template<typename MatrixType>

virtual bool g2o::LinearSolver< MatrixType >::solveBlocks ( double **&  blocks, const SparseBlockMatrix< MatrixType > &  A  )

inlinevirtual

Inverts the diagonal blocks of A

Returns

false if not defined.

Definition at line 64 of file linear_solver.h.

template<typename MatrixType>

virtual bool g2o::LinearSolver< MatrixType >::solvePattern ( SparseBlockMatrix< MatrixXd > &  spinv, const std::vector< std::pair< int, int > > &  blockIndices, const SparseBlockMatrix< MatrixType > &  A  )

inlinevirtual

Inverts the a block pattern of A in spinv

Returns

false if not defined.

Definition at line 71 of file linear_solver.h.

template<typename MatrixType>

virtual bool g2o::LinearSolver< MatrixType >::writeDebug ( ) const

inlinevirtual

write a debug dump of the system matrix if it is not PSD in solve

Reimplemented in g2o::LinearSolverEigen< MatrixType >.

Definition at line 79 of file linear_solver.h.

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

• linear_solver.h