VerticalBlockMatrix.cpp
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
21 
22 namespace gtsam {
23 
24 /* ************************************************************************* */
26  const VerticalBlockMatrix& other) {
28  result.variableColOffsets_.resize(other.nBlocks() + 1);
29  for (size_t i = 0; i < result.variableColOffsets_.size(); ++i)
31  + i] - other.variableColOffsets_[other.blockStart_];
32  result.matrix_.resize(other.rows(), result.variableColOffsets_.back());
33  result.rowEnd_ = other.rows();
34  result.assertInvariants();
35  return result;
36 }
37 
38 /* ************************************************************************* */
40  const SymmetricBlockMatrix& other, DenseIndex height) {
42  result.variableColOffsets_.resize(other.nBlocks() + 1);
43  for (size_t i = 0; i < result.variableColOffsets_.size(); ++i)
45  + i] - other.variableColOffsets_[other.blockStart_];
46  result.matrix_.resize(height, result.variableColOffsets_.back());
47  result.rowEnd_ = height;
48  result.assertInvariants();
49  return result;
50 }
51 
52 }
Access to matrices via blocks of pre-defined sizes. Used in GaussianFactor and GaussianConditional.
FastVector< DenseIndex > variableColOffsets_
the starting columns of each block (0-based)
DenseIndex nBlocks() const
Block count.
DenseIndex rows() const
Row size.
A matrix with column blocks of pre-defined sizes. Used in JacobianFactor and GaussianConditional.
DenseIndex blockStart_
Changes apparent matrix view, see main class comment.
ptrdiff_t DenseIndex
The index type for Eigen objects.
Definition: types.h:108
Matrix matrix_
The full matrix.
DenseIndex nBlocks() const
Block count.
Values result
traits
Definition: chartTesting.h:28
static VerticalBlockMatrix LikeActiveViewOf(const VerticalBlockMatrix &rhs)
FastVector< DenseIndex > variableColOffsets_
the starting columns of each block (0-based)
DenseIndex blockStart_
Changes apparent matrix view, see main class comment.
DenseIndex rowEnd_
Changes apparent matrix view, see main class comment.


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autogenerated on Tue Jul 4 2023 02:40:44