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... | |
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.
| typedef std::map<int, SparseMatrixBlock*> g2o::SparseBlockMatrix< MatrixType >::IntBlockMap |
Definition at line 73 of file sparse_block_matrix.h.
| 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.
| 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
| 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.
| g2o::SparseBlockMatrix< MatrixType >::SparseBlockMatrix | ( | ) |
Definition at line 62 of file sparse_block_matrix.hpp.
| g2o::SparseBlockMatrix< MatrixType >::~SparseBlockMatrix | ( | ) |
Definition at line 86 of file sparse_block_matrix.hpp.
| 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.
| 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.
| 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.
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the block matrices per block-column
Definition at line 178 of file sparse_block_matrix.h.
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Definition at line 179 of file sparse_block_matrix.h.
| 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.
| SparseBlockMatrix< MatrixType > * g2o::SparseBlockMatrix< MatrixType >::clone | ( | ) | const |
deep copy of a sparse-block-matrix;
Definition at line 123 of file sparse_block_matrix.hpp.
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where does the col at block-col r starts?
Definition at line 111 of file sparse_block_matrix.h.
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indices of the column blocks
Definition at line 186 of file sparse_block_matrix.h.
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Definition at line 187 of file sparse_block_matrix.h.
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columns of the matrix
Definition at line 69 of file sparse_block_matrix.h.
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how many cols does the block at block-col c has?
Definition at line 105 of file sparse_block_matrix.h.
| 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.
| 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.
| 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.
| int g2o::SparseBlockMatrix< MatrixType >::fillSparseBlockMatrixCCS | ( | SparseBlockMatrixCCS< MatrixType > & | blockCCS | ) | const |
copy into CCS structure
Definition at line 592 of file sparse_block_matrix.hpp.
| int g2o::SparseBlockMatrix< MatrixType >::fillSparseBlockMatrixCCSTransposed | ( | SparseBlockMatrixCCS< MatrixType > & | blockCCS | ) | const |
copy as transposed into a CCS structure
Definition at line 610 of file sparse_block_matrix.hpp.
| 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.
| void g2o::SparseBlockMatrix< MatrixType >::multiply | ( | double *& | dest, |
| const double * | src | ||
| ) | const |
dest = (*this) * src
Definition at line 235 of file sparse_block_matrix.hpp.
| 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.
| size_t g2o::SparseBlockMatrix< MatrixType >::nonZeroBlocks | ( | ) | const |
number of allocated blocks
Definition at line 354 of file sparse_block_matrix.hpp.
| size_t g2o::SparseBlockMatrix< MatrixType >::nonZeros | ( | ) | const |
number of non-zero elements
Definition at line 362 of file sparse_block_matrix.hpp.
| void g2o::SparseBlockMatrix< MatrixType >::rightMultiply | ( | double *& | dest, |
| const double * | src | ||
| ) | const |
dest = M * (*this)
Definition at line 285 of file sparse_block_matrix.hpp.
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where does the row at block-row r starts?
Definition at line 108 of file sparse_block_matrix.h.
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indices of the row blocks
Definition at line 182 of file sparse_block_matrix.h.
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Definition at line 183 of file sparse_block_matrix.h.
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rows of the matrix
Definition at line 71 of file sparse_block_matrix.h.
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how many rows does the block at block-row r has?
Definition at line 102 of file sparse_block_matrix.h.
| void g2o::SparseBlockMatrix< MatrixType >::scale | ( | double | a | ) |
*this *= a
Definition at line 315 of file sparse_block_matrix.hpp.
| 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
| 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.
| bool g2o::SparseBlockMatrix< MatrixType >::symmPermutation | ( | SparseBlockMatrix< MatrixType > *& | dest, |
| const int * | pinv, | ||
| bool | onlyUpper = false |
||
| ) | const |
writes in dest a block permutaton specified by pinv.
| pinv | array such that new_block[i] = old_block[pinv[i]] |
Definition at line 400 of file sparse_block_matrix.hpp.
| 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.
| 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.
| bool g2o::SparseBlockMatrix< MatrixType >::writeOctave | ( | const char * | filename, |
| bool | upperTriangle = true |
||
| ) | const |
write the content of this matrix to a stream loadable by Octave
| upperTriangle | does this matrix store only the upper triangular blocks |
Definition at line 548 of file sparse_block_matrix.hpp.
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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.
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vector of the indices of the blocks along the cols
Definition at line 215 of file sparse_block_matrix.h.
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Definition at line 219 of file sparse_block_matrix.h.
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vector of the indices of the blocks along the rows.
Definition at line 214 of file sparse_block_matrix.h.