#include <SymmetricBlockMatrix.h>

Public Types
typedef Eigen::Block< Matrix >	Block

typedef Eigen::Block< const Matrix >	constBlock

typedef SymmetricBlockMatrix	This

Public Member Functions
DenseIndex &	blockStart ()

DenseIndex	blockStart () const

void	choleskyPartial (DenseIndex nFrontals)

DenseIndex	cols () const
	Column size. More...

DenseIndex	getDim (DenseIndex block) const
	Number of dimensions for variable on this diagonal block. More...

DenseIndex	nBlocks () const
	Block count. More...

DenseIndex	rows () const
	Row size. More...

VerticalBlockMatrix	split (DenseIndex nFrontals)

	SymmetricBlockMatrix ()
	Construct from an empty matrix (asserts that the matrix is empty) More...

template<typename CONTAINER >
	SymmetricBlockMatrix (const CONTAINER &dimensions, bool appendOneDimension=false)
	Construct from a container of the sizes of each block. More...

template<typename ITERATOR >
	SymmetricBlockMatrix (ITERATOR firstBlockDim, ITERATOR lastBlockDim, bool appendOneDimension=false)
	Construct from iterator over the sizes of each vertical block. More...

template<typename CONTAINER >
	SymmetricBlockMatrix (const CONTAINER &dimensions, const Matrix &matrix, bool appendOneDimension=false)
	Construct from a container of the sizes of each vertical block and a pre-prepared matrix. More...

Block getter methods.
Matrix	block (DenseIndex I, DenseIndex J) const

Eigen::SelfAdjointView< Block, Eigen::Upper >	diagonalBlock (DenseIndex J)
	Return the J'th diagonal block as a self adjoint view. More...

Eigen::SelfAdjointView< constBlock, Eigen::Upper >	diagonalBlock (DenseIndex J) const
	Return the J'th diagonal block as a self adjoint view. More...

Vector	diagonal (DenseIndex J) const
	Get the diagonal of the J'th diagonal block. More...

constBlock	aboveDiagonalBlock (DenseIndex I, DenseIndex J) const
	Get block above the diagonal (I, J). More...

Eigen::SelfAdjointView< constBlock, Eigen::Upper >	selfadjointView (DenseIndex I, DenseIndex J) const
	Return the square sub-matrix that contains blocks(i:j, i:j). More...

Eigen::TriangularView< constBlock, Eigen::Upper >	triangularView (DenseIndex I, DenseIndex J) const
	Return the square sub-matrix that contains blocks(i:j, i:j) as a triangular view. More...

constBlock	aboveDiagonalRange (DenseIndex i_startBlock, DenseIndex i_endBlock, DenseIndex j_startBlock, DenseIndex j_endBlock) const
	Get a range [i,j) from the matrix. Indices are in block units. More...

Block	aboveDiagonalRange (DenseIndex i_startBlock, DenseIndex i_endBlock, DenseIndex j_startBlock, DenseIndex j_endBlock)
	Get a range [i,j) from the matrix. Indices are in block units. More...

Block setter methods.
template<typename XprType >
void	setDiagonalBlock (DenseIndex I, const XprType &xpr)
	Set a diagonal block. Only the upper triangular portion of `xpr` is evaluated. More...

template<typename XprType >
void	setOffDiagonalBlock (DenseIndex I, DenseIndex J, const XprType &xpr)
	Set an off-diagonal block. Only the upper triangular portion of `xpr` is evaluated. More...

template<typename XprType >
void	updateDiagonalBlock (DenseIndex I, const XprType &xpr)
	Increment the diagonal block by the values in `xpr`. Only reads the upper triangular part of `xpr`. More...

template<typename XprType >
void	updateOffDiagonalBlock (DenseIndex I, DenseIndex J, const XprType &xpr)

Accessing the full matrix.
Eigen::SelfAdjointView< Block, Eigen::Upper >	selfadjointView ()
	Get self adjoint view. More...

Eigen::SelfAdjointView< constBlock, Eigen::Upper >	selfadjointView () const
	Get self adjoint view. More...

template<typename XprType >
void	setFullMatrix (const XprType &xpr)
	Set the entire active matrix. Only reads the upper triangular part of `xpr`. More...

void	setZero ()
	Set the entire active matrix zero. More...

void	negate ()
	Negate the entire active matrix. More...

void	invertInPlace ()
	Invert the entire active matrix in place. More...

Static Public Member Functions
static SymmetricBlockMatrix	LikeActiveViewOf (const SymmetricBlockMatrix &other)

static SymmetricBlockMatrix	LikeActiveViewOf (const VerticalBlockMatrix &other)

Protected Member Functions
void	assertInvariants () const

constBlock	block_ (DenseIndex iBlock, DenseIndex jBlock, DenseIndex blockRows=1, DenseIndex blockCols=1) const
	Get an arbitrary block from the matrix. Indices are in block units. More...

Block	block_ (DenseIndex iBlock, DenseIndex jBlock, DenseIndex blockRows=1, DenseIndex blockCols=1)
	Get an arbitrary block from the matrix. Indices are in block units. More...

std::array< DenseIndex, 4 >	calcIndices (DenseIndex iBlock, DenseIndex jBlock, DenseIndex blockRows, DenseIndex blockCols) const
	Compute the indices into the underlying matrix for a given block. More...

template<typename ITERATOR >
void	fillOffsets (ITERATOR firstBlockDim, ITERATOR lastBlockDim, bool appendOneDimension)

constBlock	full () const
	Get the full matrix as a block. More...

Block	full ()
	Get the full matrix as a block. More...

DenseIndex	nActualBlocks () const
	Number of actual blocks in the full matrix. More...

DenseIndex	nOffsets () const
	Number of offsets in the full matrix. More...

DenseIndex	offset (DenseIndex block) const
	Get an offset for a block index (in the active view). More...

Protected Attributes
DenseIndex	blockStart_
	Changes apparent matrix view, see main class comment. More...

Matrix	matrix_
	The full matrix. More...

FastVector< DenseIndex >	variableColOffsets_
	the starting columns of each block (0-based) More...

Friends
template<typename SymmetricBlockMatrixType >
class	SymmetricBlockMatrixBlockExpr

class	VerticalBlockMatrix

Detailed Description

This class stores a dense matrix and allows it to be accessed as a collection of blocks. When constructed, the caller must provide the dimensions of the blocks.

The block structure is symmetric, but the underlying matrix does not necessarily need to be.

This class also has a parameter that can be changed after construction to change the apparent matrix view. firstBlock() determines the block that appears to have index 0 for all operations (except re-setting firstBlock()).

Definition at line 53 of file SymmetricBlockMatrix.h.

Member Typedef Documentation

◆ Block

typedef Eigen::Block<Matrix> gtsam::SymmetricBlockMatrix::Block

Definition at line 57 of file SymmetricBlockMatrix.h.

◆ constBlock

typedef Eigen::Block<const Matrix> gtsam::SymmetricBlockMatrix::constBlock

Definition at line 58 of file SymmetricBlockMatrix.h.

◆ This

typedef SymmetricBlockMatrix gtsam::SymmetricBlockMatrix::This

Definition at line 56 of file SymmetricBlockMatrix.h.

Constructor & Destructor Documentation

◆ SymmetricBlockMatrix() [1/4]

gtsam::SymmetricBlockMatrix::SymmetricBlockMatrix ( )

Construct from an empty matrix (asserts that the matrix is empty)

Definition at line 28 of file SymmetricBlockMatrix.cpp.

◆ SymmetricBlockMatrix() [2/4]

template<typename CONTAINER >

gtsam::SymmetricBlockMatrix::SymmetricBlockMatrix	(	const CONTAINER &	dimensions,
		bool	appendOneDimension = `false`
	)

inline

Construct from a container of the sizes of each block.

Definition at line 72 of file SymmetricBlockMatrix.h.

◆ SymmetricBlockMatrix() [3/4]

template<typename ITERATOR >

gtsam::SymmetricBlockMatrix::SymmetricBlockMatrix	(	ITERATOR	firstBlockDim,
		ITERATOR	lastBlockDim,
		bool	appendOneDimension = `false`
	)

inline

Construct from iterator over the sizes of each vertical block.

Definition at line 82 of file SymmetricBlockMatrix.h.

◆ SymmetricBlockMatrix() [4/4]

template<typename CONTAINER >

gtsam::SymmetricBlockMatrix::SymmetricBlockMatrix	(	const CONTAINER &	dimensions,
		const Matrix &	matrix,
		bool	appendOneDimension = `false`
	)

inline

Construct from a container of the sizes of each vertical block and a pre-prepared matrix.

Definition at line 92 of file SymmetricBlockMatrix.h.

Member Function Documentation

◆ aboveDiagonalBlock()

constBlock gtsam::SymmetricBlockMatrix::aboveDiagonalBlock	(	DenseIndex	I,
		DenseIndex	J
	)		const

inline

Get block above the diagonal (I, J).

Definition at line 152 of file SymmetricBlockMatrix.h.

◆ aboveDiagonalRange() [1/2]

constBlock gtsam::SymmetricBlockMatrix::aboveDiagonalRange	(	DenseIndex	i_startBlock,
		DenseIndex	i_endBlock,
		DenseIndex	j_startBlock,
		DenseIndex	j_endBlock
	)		const

inline

Get a range [i,j) from the matrix. Indices are in block units.

Definition at line 172 of file SymmetricBlockMatrix.h.

◆ aboveDiagonalRange() [2/2]

Block gtsam::SymmetricBlockMatrix::aboveDiagonalRange	(	DenseIndex	i_startBlock,
		DenseIndex	i_endBlock,
		DenseIndex	j_startBlock,
		DenseIndex	j_endBlock
	)

inline

Get a range [i,j) from the matrix. Indices are in block units.

Definition at line 183 of file SymmetricBlockMatrix.h.

◆ assertInvariants()

void gtsam::SymmetricBlockMatrix::assertInvariants ( ) const

inlineprotected

Definition at line 361 of file SymmetricBlockMatrix.h.

◆ block()

Matrix gtsam::SymmetricBlockMatrix::block	(	DenseIndex	I,
		DenseIndex	J
	)		const

Get a copy of a block (anywhere in the matrix). This method makes a copy - use the methods below if performance is critical.

Definition at line 60 of file SymmetricBlockMatrix.cpp.

◆ block_() [1/2]

constBlock gtsam::SymmetricBlockMatrix::block_	(	DenseIndex	iBlock,
		DenseIndex	jBlock,
		DenseIndex	blockRows = `1`,
		DenseIndex	blockCols = `1`
	)		const

inlineprotected

Get an arbitrary block from the matrix. Indices are in block units.

Definition at line 321 of file SymmetricBlockMatrix.h.

◆ block_() [2/2]

Block gtsam::SymmetricBlockMatrix::block_	(	DenseIndex	iBlock,
		DenseIndex	jBlock,
		DenseIndex	blockRows = `1`,
		DenseIndex	blockCols = `1`
	)

inlineprotected

Get an arbitrary block from the matrix. Indices are in block units.

Definition at line 329 of file SymmetricBlockMatrix.h.

◆ blockStart() [1/2]

DenseIndex& gtsam::SymmetricBlockMatrix::blockStart ( )

inline

Retrieve or modify the first logical block, i.e. the block referenced by block index 0. Blocks before it will be inaccessible, except by accessing the underlying matrix using matrix().

Definition at line 275 of file SymmetricBlockMatrix.h.

◆ blockStart() [2/2]

DenseIndex gtsam::SymmetricBlockMatrix::blockStart ( ) const

inline

Retrieve the first logical block, i.e. the block referenced by block index 0. Blocks before it will be inaccessible, except by accessing the underlying matrix using matrix().

Definition at line 279 of file SymmetricBlockMatrix.h.

◆ calcIndices()

std::array<DenseIndex, 4> gtsam::SymmetricBlockMatrix::calcIndices	(	DenseIndex	iBlock,
		DenseIndex	jBlock,
		DenseIndex	blockRows,
		DenseIndex	blockCols
	)		const

inlineprotected

Compute the indices into the underlying matrix for a given block.

Definition at line 347 of file SymmetricBlockMatrix.h.

◆ choleskyPartial()

void gtsam::SymmetricBlockMatrix::choleskyPartial ( DenseIndex nFrontals )

Given the augmented Hessian [A1'A1 A1'A2 A1'b A2'A1 A2'A2 A2'b b'A1 b'A2 b'b] on x1 and x2, does partial Cholesky in-place to obtain [R Sd;0 L] such that R'R = A1'A1 R'Sd = [A1'A2 A1'b] L'L is the augmented Hessian on the the separator x2 R and Sd can be interpreted as a GaussianConditional |R*x1 + S*x2 - d]^2

Definition at line 83 of file SymmetricBlockMatrix.cpp.

◆ cols()

DenseIndex gtsam::SymmetricBlockMatrix::cols ( void ) const

inline

Column size.

Definition at line 119 of file SymmetricBlockMatrix.h.

◆ diagonal()

Vector gtsam::SymmetricBlockMatrix::diagonal ( DenseIndex J ) const

inline

Get the diagonal of the J'th diagonal block.

Definition at line 147 of file SymmetricBlockMatrix.h.

◆ diagonalBlock() [1/2]

Eigen::SelfAdjointView<Block, Eigen::Upper> gtsam::SymmetricBlockMatrix::diagonalBlock ( DenseIndex J )

inline

Return the J'th diagonal block as a self adjoint view.

Definition at line 137 of file SymmetricBlockMatrix.h.

◆ diagonalBlock() [2/2]

Eigen::SelfAdjointView<constBlock, Eigen::Upper> gtsam::SymmetricBlockMatrix::diagonalBlock ( DenseIndex J ) const

inline

Return the J'th diagonal block as a self adjoint view.

Definition at line 142 of file SymmetricBlockMatrix.h.

◆ fillOffsets()

template<typename ITERATOR >

void gtsam::SymmetricBlockMatrix::fillOffsets	(	ITERATOR	firstBlockDim,
		ITERATOR	lastBlockDim,
		bool	appendOneDimension
	)

inlineprotected

Definition at line 369 of file SymmetricBlockMatrix.h.

◆ full() [1/2]

constBlock gtsam::SymmetricBlockMatrix::full ( ) const

inlineprotected

Get the full matrix as a block.

Definition at line 337 of file SymmetricBlockMatrix.h.

◆ full() [2/2]

Block gtsam::SymmetricBlockMatrix::full ( )

inlineprotected

Get the full matrix as a block.

Definition at line 342 of file SymmetricBlockMatrix.h.

◆ getDim()

DenseIndex gtsam::SymmetricBlockMatrix::getDim ( DenseIndex block ) const

inline

Number of dimensions for variable on this diagonal block.

Definition at line 125 of file SymmetricBlockMatrix.h.

◆ invertInPlace()

void gtsam::SymmetricBlockMatrix::invertInPlace ( )

Invert the entire active matrix in place.

Definition at line 76 of file SymmetricBlockMatrix.cpp.

◆ LikeActiveViewOf() [1/2]

SymmetricBlockMatrix gtsam::SymmetricBlockMatrix::LikeActiveViewOf ( const SymmetricBlockMatrix & other )

static

Copy the block structure, but do not copy the matrix data. If blockStart() has been modified, this copies the structure of the corresponding matrix view. In the destination SymmetricBlockMatrix, blockStart() will be 0.

Definition at line 34 of file SymmetricBlockMatrix.cpp.

◆ LikeActiveViewOf() [2/2]

SymmetricBlockMatrix gtsam::SymmetricBlockMatrix::LikeActiveViewOf ( const VerticalBlockMatrix & other )

static

Copy the block structure, but do not copy the matrix data. If blockStart() has been modified, this copies the structure of the corresponding matrix view. In the destination SymmetricBlockMatrix, blockStart() will be 0.

Definition at line 47 of file SymmetricBlockMatrix.cpp.

◆ nActualBlocks()

DenseIndex gtsam::SymmetricBlockMatrix::nActualBlocks ( ) const

inlineprotected

Number of actual blocks in the full matrix.

Definition at line 308 of file SymmetricBlockMatrix.h.

◆ nBlocks()

DenseIndex gtsam::SymmetricBlockMatrix::nBlocks ( ) const

inline

Block count.

Definition at line 122 of file SymmetricBlockMatrix.h.

◆ negate()

void gtsam::SymmetricBlockMatrix::negate ( )

Negate the entire active matrix.

Definition at line 71 of file SymmetricBlockMatrix.cpp.

◆ nOffsets()

DenseIndex gtsam::SymmetricBlockMatrix::nOffsets ( ) const

inlineprotected

Number of offsets in the full matrix.

Definition at line 303 of file SymmetricBlockMatrix.h.

◆ offset()

DenseIndex gtsam::SymmetricBlockMatrix::offset ( DenseIndex block ) const

inlineprotected

Get an offset for a block index (in the active view).

Definition at line 313 of file SymmetricBlockMatrix.h.

◆ rows()

DenseIndex gtsam::SymmetricBlockMatrix::rows ( void ) const

inline

Row size.

Definition at line 116 of file SymmetricBlockMatrix.h.

◆ selfadjointView() [1/3]

Eigen::SelfAdjointView<constBlock, Eigen::Upper> gtsam::SymmetricBlockMatrix::selfadjointView	(	DenseIndex	I,
		DenseIndex	J
	)		const

inline

Return the square sub-matrix that contains blocks(i:j, i:j).

Definition at line 158 of file SymmetricBlockMatrix.h.

◆ selfadjointView() [2/3]

Eigen::SelfAdjointView<Block, Eigen::Upper> gtsam::SymmetricBlockMatrix::selfadjointView ( )

inline

Get self adjoint view.

Definition at line 244 of file SymmetricBlockMatrix.h.

◆ selfadjointView() [3/3]

Eigen::SelfAdjointView<constBlock, Eigen::Upper> gtsam::SymmetricBlockMatrix::selfadjointView ( ) const

inline

Get self adjoint view.

Definition at line 249 of file SymmetricBlockMatrix.h.

◆ setDiagonalBlock()

template<typename XprType >

void gtsam::SymmetricBlockMatrix::setDiagonalBlock	(	DenseIndex	I,
		const XprType &	xpr
	)

inline

Set a diagonal block. Only the upper triangular portion of xpr is evaluated.

Definition at line 197 of file SymmetricBlockMatrix.h.

◆ setFullMatrix()

template<typename XprType >

void gtsam::SymmetricBlockMatrix::setFullMatrix ( const XprType & xpr )

inline

Set the entire active matrix. Only reads the upper triangular part of xpr.

Definition at line 255 of file SymmetricBlockMatrix.h.

◆ setOffDiagonalBlock()

template<typename XprType >

void gtsam::SymmetricBlockMatrix::setOffDiagonalBlock	(	DenseIndex	I,
		DenseIndex	J,
		const XprType &	xpr
	)

inline

Set an off-diagonal block. Only the upper triangular portion of xpr is evaluated.

Definition at line 203 of file SymmetricBlockMatrix.h.

◆ setZero()

void gtsam::SymmetricBlockMatrix::setZero ( )

inline

Set the entire active matrix zero.

Definition at line 260 of file SymmetricBlockMatrix.h.

◆ split()

VerticalBlockMatrix gtsam::SymmetricBlockMatrix::split ( DenseIndex nFrontals )

After partial Cholesky, we can optionally split off R and Sd, to be interpreted as a GaussianConditional |R*x1 + S*x2 - d]^2. We leave the symmetric lower block L in place, and adjust block_start so now *this refers to it.

Definition at line 92 of file SymmetricBlockMatrix.cpp.

◆ triangularView()

Eigen::TriangularView<constBlock, Eigen::Upper> gtsam::SymmetricBlockMatrix::triangularView	(	DenseIndex	I,
		DenseIndex	J
	)		const

inline

Return the square sub-matrix that contains blocks(i:j, i:j) as a triangular view.

Definition at line 165 of file SymmetricBlockMatrix.h.

◆ updateDiagonalBlock()

template<typename XprType >

void gtsam::SymmetricBlockMatrix::updateDiagonalBlock	(	DenseIndex	I,
		const XprType &	xpr
	)

inline

Increment the diagonal block by the values in xpr. Only reads the upper triangular part of xpr.

Definition at line 214 of file SymmetricBlockMatrix.h.

◆ updateOffDiagonalBlock()

template<typename XprType >

void gtsam::SymmetricBlockMatrix::updateOffDiagonalBlock	(	DenseIndex	I,
		DenseIndex	J,
		const XprType &	xpr
	)

inline

Update an off diagonal block. NOTE(emmett): This assumes noalias().

Definition at line 230 of file SymmetricBlockMatrix.h.

Friends And Related Function Documentation

◆ SymmetricBlockMatrixBlockExpr

template<typename SymmetricBlockMatrixType >

friend class SymmetricBlockMatrixBlockExpr

friend

Definition at line 386 of file SymmetricBlockMatrix.h.

◆ VerticalBlockMatrix

friend class VerticalBlockMatrix

friend

Definition at line 385 of file SymmetricBlockMatrix.h.

Member Data Documentation

◆ blockStart_

DenseIndex gtsam::SymmetricBlockMatrix::blockStart_

protected

Changes apparent matrix view, see main class comment.

Definition at line 64 of file SymmetricBlockMatrix.h.

◆ matrix_

Matrix gtsam::SymmetricBlockMatrix::matrix_

protected

The full matrix.

Definition at line 61 of file SymmetricBlockMatrix.h.

◆ variableColOffsets_

FastVector<DenseIndex> gtsam::SymmetricBlockMatrix::variableColOffsets_

protected

the starting columns of each block (0-based)

Definition at line 62 of file SymmetricBlockMatrix.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Block

◆ constBlock

◆ This

Constructor & Destructor Documentation

◆ SymmetricBlockMatrix() [1/4]

◆ SymmetricBlockMatrix() [2/4]

◆ SymmetricBlockMatrix() [3/4]

◆ SymmetricBlockMatrix() [4/4]

Member Function Documentation

◆ aboveDiagonalBlock()

◆ aboveDiagonalRange() [1/2]

◆ aboveDiagonalRange() [2/2]

◆ assertInvariants()

◆ block()

◆ block_() [1/2]

◆ block_() [2/2]

◆ blockStart() [1/2]

◆ blockStart() [2/2]

◆ calcIndices()

◆ choleskyPartial()

◆ cols()

◆ diagonal()

◆ diagonalBlock() [1/2]

◆ diagonalBlock() [2/2]

◆ fillOffsets()

◆ full() [1/2]

◆ full() [2/2]

◆ getDim()

◆ invertInPlace()

◆ LikeActiveViewOf() [1/2]

◆ LikeActiveViewOf() [2/2]

◆ nActualBlocks()

◆ nBlocks()

◆ negate()

◆ nOffsets()

◆ offset()

◆ rows()

◆ selfadjointView() [1/3]

◆ selfadjointView() [2/3]

◆ selfadjointView() [3/3]

◆ setDiagonalBlock()

◆ setFullMatrix()

◆ setOffDiagonalBlock()

◆ setZero()

◆ split()

◆ triangularView()

◆ updateDiagonalBlock()

◆ updateOffDiagonalBlock()

Friends And Related Function Documentation

◆ SymmetricBlockMatrixBlockExpr

◆ VerticalBlockMatrix

Member Data Documentation

◆ blockStart_

◆ matrix_

◆ variableColOffsets_