g2o::LinearSolverDense< MatrixType > Class Template Reference

linear solver using dense cholesky decomposition More...

#include <linear_solver_dense.h>

Inheritance diagram for g2o::LinearSolverDense< MatrixType >:

Public Member Functions
virtual bool	init ()
	LinearSolverDense ()
bool	solve (const SparseBlockMatrix< MatrixType > &A, double *x, double *b)
virtual	~LinearSolverDense ()
Public Member Functions inherited from g2o::LinearSolver< MatrixType >
	LinearSolver ()
virtual void	setWriteDebug (bool)
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 ()

Protected Attributes
Eigen::LDLT< Eigen::MatrixXd >	_cholesky
Eigen::MatrixXd	_H
bool	_reset

Detailed Description

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

linear solver using dense cholesky decomposition

Definition at line 46 of file linear_solver_dense.h.

Constructor & Destructor Documentation

template<typename MatrixType>

g2o::LinearSolverDense< MatrixType >::LinearSolverDense ( )

inline

Definition at line 49 of file linear_solver_dense.h.

template<typename MatrixType>

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

inlinevirtual

Definition at line 55 of file linear_solver_dense.h.

Member Function Documentation

template<typename MatrixType>

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

inlinevirtual

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

Implements g2o::LinearSolver< MatrixType >.

Definition at line 59 of file linear_solver_dense.h.

template<typename MatrixType>

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

inlinevirtual

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!!

Implements g2o::LinearSolver< MatrixType >.

Definition at line 65 of file linear_solver_dense.h.

Member Data Documentation

template<typename MatrixType>

Eigen::LDLT<Eigen::MatrixXd> g2o::LinearSolverDense< MatrixType >::_cholesky

protected

Definition at line 118 of file linear_solver_dense.h.

template<typename MatrixType>

Eigen::MatrixXd g2o::LinearSolverDense< MatrixType >::_H

protected

Definition at line 117 of file linear_solver_dense.h.

template<typename MatrixType>

bool g2o::LinearSolverDense< MatrixType >::_reset

protected

Definition at line 116 of file linear_solver_dense.h.

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

• linear_solver_dense.h