linear solver which uses the sparse Cholesky solver from Eigen More...
#include <linear_solver_eigen.h>
Classes | |
| class | CholeskyDecomposition |
| Sub-classing Eigen's SimplicialLDLT to perform ordering with a given ordering. More... | |
Public Types | |
| typedef Eigen::PermutationMatrix< Eigen::Dynamic, Eigen::Dynamic > | PermutationMatrix |
| typedef Eigen::SparseMatrix< double, Eigen::ColMajor > | SparseMatrix |
| typedef Eigen::Triplet< double > | Triplet |
Public Member Functions | |
| bool | blockOrdering () const |
| do the AMD ordering on the blocks or on the scalar matrix More... | |
| virtual bool | init () |
| LinearSolverEigen () | |
| void | setBlockOrdering (bool blockOrdering) |
| virtual void | setWriteDebug (bool b) |
| bool | solve (const SparseBlockMatrix< MatrixType > &A, double *x, double *b) |
| virtual bool | writeDebug () const |
| write a debug dump of the system matrix if it is not SPD in solve More... | |
| virtual | ~LinearSolverEigen () |
 Public Member Functions inherited from g2o::LinearSolver< MatrixType > | |
| LinearSolver () | |
| 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 | ~LinearSolver () |
Protected Member Functions | |
| void | computeSymbolicDecomposition (const SparseBlockMatrix< MatrixType > &A) |
| void | fillSparseMatrix (const SparseBlockMatrix< MatrixType > &A, bool onlyValues) |
Protected Attributes | |
| bool | _blockOrdering |
| CholeskyDecomposition | _cholesky |
| bool | _init |
| SparseMatrix | _sparseMatrix |
| bool | _writeDebug |
Detailed Description
template<typename MatrixType>
class g2o::LinearSolverEigen< MatrixType >
linear solver which uses the sparse Cholesky solver from Eigen
Has no dependencies except Eigen. Hence, should compile almost everywhere without to much issues. Performance should be similar to CSparse, I guess.
Definition at line 51 of file linear_solver_eigen.h.
Member Typedef Documentation
| typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic> g2o::LinearSolverEigen< MatrixType >::PermutationMatrix |
Definition at line 56 of file linear_solver_eigen.h.
| typedef Eigen::SparseMatrix<double, Eigen::ColMajor> g2o::LinearSolverEigen< MatrixType >::SparseMatrix |
Definition at line 54 of file linear_solver_eigen.h.
| typedef Eigen::Triplet<double> g2o::LinearSolverEigen< MatrixType >::Triplet |
Definition at line 55 of file linear_solver_eigen.h.
Constructor & Destructor Documentation
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inline |
Definition at line 78 of file linear_solver_eigen.h.
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inlinevirtual |
Definition at line 84 of file linear_solver_eigen.h.
Member Function Documentation
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inline |
do the AMD ordering on the blocks or on the scalar matrix
Definition at line 127 of file linear_solver_eigen.h.
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inlineprotected |
compute the symbolic decompostion of the matrix only once. Since A has the same pattern in all the iterations, we only compute the fill-in reducing ordering once and re-use for all the following iterations.
Definition at line 147 of file linear_solver_eigen.h.
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inlineprotected |
Definition at line 203 of file linear_solver_eigen.h.
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inlinevirtual |
init for operating on matrices with a different non-zero pattern like before
Implements g2o::LinearSolver< MatrixType >.
Definition at line 88 of file linear_solver_eigen.h.
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inline |
Definition at line 128 of file linear_solver_eigen.h.
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inlinevirtual |
Reimplemented from g2o::LinearSolver< MatrixType >.
Definition at line 132 of file linear_solver_eigen.h.
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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 94 of file linear_solver_eigen.h.
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inlinevirtual |
write a debug dump of the system matrix if it is not SPD in solve
Reimplemented from g2o::LinearSolver< MatrixType >.
Definition at line 131 of file linear_solver_eigen.h.
Member Data Documentation
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protected |
Definition at line 136 of file linear_solver_eigen.h.
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protected |
Definition at line 139 of file linear_solver_eigen.h.
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protected |
Definition at line 135 of file linear_solver_eigen.h.
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protected |
Definition at line 138 of file linear_solver_eigen.h.
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protected |
Definition at line 137 of file linear_solver_eigen.h.
The documentation for this class was generated from the following file: