Sparse matrix which uses 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. More...

Public Member Functions
bool	add (SparseBlockMatrix< MatrixType > *&dest) const
	adds the current matrix to the destination More...

SparseMatrixBlock *	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 More...

const SparseMatrixBlock *	block (int r, int c) const
	returns the block at location r,c More...

const std::vector< IntBlockMap > &	blockCols () const
	the block matrices per block-column More...

std::vector< IntBlockMap > &	blockCols ()

void	clear (bool dealloc=false)
	this zeroes all the blocks. If dealloc=true the blocks are removed from memory More...

SparseBlockMatrix *	clone () const
	deep copy of a sparse-block-matrix; More...

int	colBaseOfBlock (int c) const
	where does the col at block-col r starts? More...

const std::vector< int > &	colBlockIndices () const
	indices of the column blocks More...

std::vector< int > &	colBlockIndices ()

int	cols () const
	columns of the matrix More...

int	colsOfBlock (int c) const
	how many cols does the block at block-col c has? More...

void	fillBlockStructure (MatrixStructure &ms) const
	exports the non zero blocks in the structure matrix ms More...

int	fillCCS (int Cp, int Ci, double *Cx, bool upperTriangle=false) const

int	fillCCS (double *Cx, bool upperTriangle=false) const

int	fillSparseBlockMatrixCCS (SparseBlockMatrixCCS< MatrixType > &blockCCS) const

int	fillSparseBlockMatrixCCSTransposed (SparseBlockMatrixCCS< MatrixType > &blockCCS) const

template<class MatrixResultType , class MatrixFactorType >
bool	multiply (SparseBlockMatrix< MatrixResultType > &dest, const SparseBlockMatrix< MatrixFactorType > M) const
	dest = (this) M More...

void	multiply (double &dest, const double src) const
	dest = (this) src More...

void	multiplySymmetricUpperTriangle (double &dest, const double src) const

size_t	nonZeroBlocks () const
	number of allocated blocks More...

size_t	nonZeros () const
	number of non-zero elements More...

void	rightMultiply (double &dest, const double src) const
	dest = M * (*this) More...

int	rowBaseOfBlock (int r) const
	where does the row at block-row r starts? More...

const std::vector< int > &	rowBlockIndices () const
	indices of the row blocks More...

std::vector< int > &	rowBlockIndices ()

int	rows () const
	rows of the matrix More...

int	rowsOfBlock (int r) const
	how many rows does the block at block-row r has? More...

void	scale (double a)
	this = a More...

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

void	takePatternFromHash (SparseBlockMatrixHashMap< MatrixType > &hashMatrix)

template<class MatrixTransposedType >
bool	transpose (SparseBlockMatrix< MatrixTransposedType > *&dest) const
	transposes a block matrix, The transposed type should match the argument false on failure More...

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. More...

Detailed Description

template<class MatrixType = MatrixXd>
class g2o::SparseBlockMatrix< MatrixType >

Sparse matrix which uses 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 the 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 62 of file sparse_block_matrix.h.

Member Typedef Documentation

template<class MatrixType = MatrixXd>

typedef std::map<int, SparseMatrixBlock*> g2o::SparseBlockMatrix< MatrixType >::IntBlockMap

Definition at line 73 of file sparse_block_matrix.h.

template<class MatrixType = MatrixXd>

typedef MatrixType g2o::SparseBlockMatrix< MatrixType >::SparseMatrixBlock

this is the type of the elementary block, it is an Eigen::Matrix.

Definition at line 66 of file sparse_block_matrix.h.

Constructor & Destructor Documentation

template<class MatrixType >

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

Parameters

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 54 of file sparse_block_matrix.hpp.

template<class MatrixType >

g2o::SparseBlockMatrix< MatrixType >::SparseBlockMatrix ( )

Definition at line 62 of file sparse_block_matrix.hpp.

template<class MatrixType >

g2o::SparseBlockMatrix< MatrixType >::~SparseBlockMatrix ( )

Definition at line 86 of file sparse_block_matrix.hpp.

Member Function Documentation

template<class MatrixType>

bool g2o::SparseBlockMatrix< MatrixType >::add ( SparseBlockMatrix< MatrixType > *& dest ) const

adds the current matrix to the destination

Definition at line 169 of file sparse_block_matrix.hpp.

template<class MatrixType >

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 92 of file sparse_block_matrix.hpp.

template<class MatrixType >

const SparseBlockMatrix< MatrixType >::SparseMatrixBlock * g2o::SparseBlockMatrix< MatrixType >::block	(	int	r,
		int	c
	)		const

returns the block at location r,c

Definition at line 114 of file sparse_block_matrix.hpp.

template<class MatrixType = MatrixXd>

const std::vector<IntBlockMap>& g2o::SparseBlockMatrix< MatrixType >::blockCols ( ) const

inline

the block matrices per block-column

Definition at line 178 of file sparse_block_matrix.h.

template<class MatrixType = MatrixXd>

std::vector<IntBlockMap>& g2o::SparseBlockMatrix< MatrixType >::blockCols ( )

inline

Definition at line 179 of file sparse_block_matrix.h.

template<class MatrixType >

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.

template<class MatrixType >

SparseBlockMatrix< MatrixType > * g2o::SparseBlockMatrix< MatrixType >::clone ( ) const

deep copy of a sparse-block-matrix;

Definition at line 123 of file sparse_block_matrix.hpp.

template<class MatrixType = MatrixXd>

int g2o::SparseBlockMatrix< MatrixType >::colBaseOfBlock ( int c ) const

inline

where does the col at block-col r starts?

Definition at line 111 of file sparse_block_matrix.h.

template<class MatrixType = MatrixXd>

const std::vector<int>& g2o::SparseBlockMatrix< MatrixType >::colBlockIndices ( ) const

inline

indices of the column blocks

Definition at line 186 of file sparse_block_matrix.h.

template<class MatrixType = MatrixXd>

std::vector<int>& g2o::SparseBlockMatrix< MatrixType >::colBlockIndices ( )

inline

Definition at line 187 of file sparse_block_matrix.h.

template<class MatrixType = MatrixXd>

int g2o::SparseBlockMatrix< MatrixType >::cols ( ) const

inline

columns of the matrix

Definition at line 69 of file sparse_block_matrix.h.

template<class MatrixType = MatrixXd>

int g2o::SparseBlockMatrix< MatrixType >::colsOfBlock ( int c ) const

inline

how many cols does the block at block-col c has?

Definition at line 105 of file sparse_block_matrix.h.

template<class MatrixType >

void g2o::SparseBlockMatrix< MatrixType >::fillBlockStructure ( MatrixStructure & ms ) const

exports the non zero blocks in the structure matrix ms

Definition at line 520 of file sparse_block_matrix.hpp.

template<class MatrixType >

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 490 of file sparse_block_matrix.hpp.

template<class MatrixType >

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 465 of file sparse_block_matrix.hpp.

template<class MatrixType>

int g2o::SparseBlockMatrix< MatrixType >::fillSparseBlockMatrixCCS ( SparseBlockMatrixCCS< MatrixType > & blockCCS ) const

copy into CCS structure

Returns: number of processed blocks, -1 on error

Definition at line 592 of file sparse_block_matrix.hpp.

template<class MatrixType>

int g2o::SparseBlockMatrix< MatrixType >::fillSparseBlockMatrixCCSTransposed ( SparseBlockMatrixCCS< MatrixType > & blockCCS ) const

copy as transposed into a CCS structure

Returns: number of processed blocks, -1 on error

Definition at line 610 of file sparse_block_matrix.hpp.

template<class MatrixType >

template<class MatrixResultType , class MatrixFactorType >

bool g2o::SparseBlockMatrix< MatrixType >::multiply	(	SparseBlockMatrix< MatrixResultType > *&	dest,
		const SparseBlockMatrix< MatrixFactorType > *	M
	)		const

dest = (*this) * M

Definition at line 200 of file sparse_block_matrix.hpp.

template<class MatrixType >

void g2o::SparseBlockMatrix< MatrixType >::multiply	(	double *&	dest,
		const double *	src
	)		const

dest = (*this) * src

Definition at line 235 of file sparse_block_matrix.hpp.

template<class MatrixType >

void g2o::SparseBlockMatrix< MatrixType >::multiplySymmetricUpperTriangle	(	double *&	dest,
		const double *	src
	)		const

compute dest = (*this) * src However, assuming that this is a symmetric matrix where only the upper triangle is stored

Definition at line 258 of file sparse_block_matrix.hpp.

template<class MatrixType >

size_t g2o::SparseBlockMatrix< MatrixType >::nonZeroBlocks ( ) const

number of allocated blocks

Definition at line 354 of file sparse_block_matrix.hpp.

template<class MatrixType >

size_t g2o::SparseBlockMatrix< MatrixType >::nonZeros ( ) const

number of non-zero elements

Definition at line 362 of file sparse_block_matrix.hpp.

template<class MatrixType >

void g2o::SparseBlockMatrix< MatrixType >::rightMultiply	(	double *&	dest,
		const double *	src
	)		const

dest = M * (*this)

Definition at line 285 of file sparse_block_matrix.hpp.

template<class MatrixType = MatrixXd>

int g2o::SparseBlockMatrix< MatrixType >::rowBaseOfBlock ( int r ) const

inline

where does the row at block-row r starts?

Definition at line 108 of file sparse_block_matrix.h.

template<class MatrixType = MatrixXd>

const std::vector<int>& g2o::SparseBlockMatrix< MatrixType >::rowBlockIndices ( ) const

inline

indices of the row blocks

Definition at line 182 of file sparse_block_matrix.h.

template<class MatrixType = MatrixXd>

std::vector<int>& g2o::SparseBlockMatrix< MatrixType >::rowBlockIndices ( )

inline

Definition at line 183 of file sparse_block_matrix.h.

template<class MatrixType = MatrixXd>

int g2o::SparseBlockMatrix< MatrixType >::rows ( ) const

inline

rows of the matrix

Definition at line 71 of file sparse_block_matrix.h.

template<class MatrixType = MatrixXd>

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.

template<class MatrixType >

void g2o::SparseBlockMatrix< MatrixType >::scale ( double a )

*this *= a

Definition at line 315 of file sparse_block_matrix.hpp.

template<class MatrixType >

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

Parameters

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 325 of file sparse_block_matrix.hpp.

template<class MatrixType>

bool g2o::SparseBlockMatrix< MatrixType >::symmPermutation	(	SparseBlockMatrix< MatrixType > *&	dest,
		const int *	pinv,
		bool	onlyUpper = `false`
	)		const

writes in dest a block permutaton specified by pinv.

Parameters

pinv	array such that new_block[i] = old_block[pinv[i]]

Definition at line 400 of file sparse_block_matrix.hpp.

template<class MatrixType>

void g2o::SparseBlockMatrix< MatrixType >::takePatternFromHash ( SparseBlockMatrixHashMap< MatrixType > & hashMatrix )

take over the memory and matrix pattern from a hash matrix. The structure of the hash matrix will be cleared.

Definition at line 627 of file sparse_block_matrix.hpp.

template<class MatrixType >

template<class MatrixTransposedType >

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 138 of file sparse_block_matrix.hpp.

template<class MatrixType >

bool g2o::SparseBlockMatrix< MatrixType >::writeOctave	(	const char *	filename,
		bool	upperTriangle = `true`
	)		const

write the content of this matrix to a stream loadable by Octave

Parameters

upperTriangle does this matrix store only the upper triangular blocks

Definition at line 548 of file sparse_block_matrix.hpp.

Member Data Documentation

template<class MatrixType = MatrixXd>

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 218 of file sparse_block_matrix.h.

template<class MatrixType = MatrixXd>

std::vector<int> g2o::SparseBlockMatrix< MatrixType >::_colBlockIndices

protected

vector of the indices of the blocks along the cols

Definition at line 215 of file sparse_block_matrix.h.

template<class MatrixType = MatrixXd>

bool g2o::SparseBlockMatrix< MatrixType >::_hasStorage

protected

Definition at line 219 of file sparse_block_matrix.h.

template<class MatrixType = MatrixXd>

std::vector<int> g2o::SparseBlockMatrix< MatrixType >::_rowBlockIndices

protected

vector of the indices of the blocks along the rows.

Definition at line 214 of file sparse_block_matrix.h.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

template<class MatrixType = MatrixXd> class g2o::SparseBlockMatrix< MatrixType >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class MatrixType = MatrixXd>
class g2o::SparseBlockMatrix< MatrixType >