g2o::LinearSolverCSparse< MatrixType > Class Template Reference

linear solver which uses CSparse More...

#include <linear_solver_csparse.h>

Inheritance diagram for g2o::LinearSolverCSparse< MatrixType >:

List of all members.

Public Member Functions
bool	blockOrdering () const
	do the AMD ordering on the blocks or on the scalar matrix
virtual bool	init ()
	LinearSolverCSparse ()
void	setBlockOrdering (bool blockOrdering)
bool	solve (const SparseBlockMatrix< MatrixType > &A, double *x, double *b)
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	~LinearSolverCSparse ()
Protected Member Functions
void	computeSymbolicDecomposition (const SparseBlockMatrix< MatrixType > &A)
void	fillCSparse (const SparseBlockMatrix< MatrixType > &A, bool onlyValues)
Protected Attributes
bool	_blockOrdering
CSparseExt *	_ccsA
int *	_csIntWorkspace
double *	_csWorkspace
int	_csWorkspaceSize
MatrixStructure	_matrixStructure
VectorXi	_scalarPermutation
css *	_symbolicDecomposition

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Detailed Description

template<typename MatrixType>
class g2o::LinearSolverCSparse< MatrixType >

linear solver which uses CSparse

Definition at line 60 of file linear_solver_csparse.h.

---

Constructor & Destructor Documentation

template<typename MatrixType >

g2o::LinearSolverCSparse< MatrixType >::LinearSolverCSparse

(

)

[inline]

Definition at line 63 of file linear_solver_csparse.h.

template<typename MatrixType >

virtual g2o::LinearSolverCSparse< MatrixType >::~LinearSolverCSparse

(

)

[inline, virtual]

Definition at line 74 of file linear_solver_csparse.h.

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Member Function Documentation

template<typename MatrixType >

bool g2o::LinearSolverCSparse< MatrixType >::blockOrdering

(

)

const [inline]

do the AMD ordering on the blocks or on the scalar matrix

Definition at line 211 of file linear_solver_csparse.h.

template<typename MatrixType >

void g2o::LinearSolverCSparse< MatrixType >::computeSymbolicDecomposition

(

const SparseBlockMatrix< MatrixType > &

A

)

[inline, protected]

Definition at line 224 of file linear_solver_csparse.h.

template<typename MatrixType >

void g2o::LinearSolverCSparse< MatrixType >::fillCSparse	(	const SparseBlockMatrix< MatrixType > &	A,
		bool	onlyValues
	)		[inline, protected]

Definition at line 287 of file linear_solver_csparse.h.

template<typename MatrixType >

virtual bool g2o::LinearSolverCSparse< MatrixType >::init

(

)

[inline, virtual]

init for operating on matrices with a different non-zero pattern like before

Implements g2o::LinearSolver< MatrixType >.

Definition at line 85 of file linear_solver_csparse.h.

template<typename MatrixType >

void g2o::LinearSolverCSparse< MatrixType >::setBlockOrdering

(

bool

blockOrdering

)

[inline]

Definition at line 212 of file linear_solver_csparse.h.

template<typename MatrixType >

bool g2o::LinearSolverCSparse< MatrixType >::solve	(	const SparseBlockMatrix< MatrixType > &	A,
		double *	x,
		double *	b
	)		[inline, virtual]

Assumes that A has the same non-zero pattern over several calls. If the pattern 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_csparse.h.

template<typename MatrixType >

bool g2o::LinearSolverCSparse< MatrixType >::solveBlocks	(	double **&	blocks,
		const SparseBlockMatrix< MatrixType > &	A
	)		[inline, virtual]

Inverts the diagonal blocks of A

Returns:

false if not defined.

Reimplemented from g2o::LinearSolver< MatrixType >.

Definition at line 129 of file linear_solver_csparse.h.

template<typename MatrixType >

virtual bool g2o::LinearSolverCSparse< MatrixType >::solvePattern	(	SparseBlockMatrix< MatrixXd > &	spinv,
		const std::vector< std::pair< int, int > > &	blockIndices,
		const SparseBlockMatrix< MatrixType > &	A
	)		[inline, virtual]

Inverts the a block pattern of A in spinv

Returns:

false if not defined.

Reimplemented from g2o::LinearSolver< MatrixType >.

Definition at line 174 of file linear_solver_csparse.h.

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Member Data Documentation

template<typename MatrixType >

bool g2o::LinearSolverCSparse< MatrixType >::_blockOrdering [protected]

Definition at line 220 of file linear_solver_csparse.h.

template<typename MatrixType >

CSparseExt* g2o::LinearSolverCSparse< MatrixType >::_ccsA [protected]

Definition at line 219 of file linear_solver_csparse.h.

template<typename MatrixType >

int* g2o::LinearSolverCSparse< MatrixType >::_csIntWorkspace [protected]

Definition at line 218 of file linear_solver_csparse.h.

template<typename MatrixType >

double* g2o::LinearSolverCSparse< MatrixType >::_csWorkspace [protected]

Definition at line 217 of file linear_solver_csparse.h.

template<typename MatrixType >

int g2o::LinearSolverCSparse< MatrixType >::_csWorkspaceSize [protected]

Definition at line 216 of file linear_solver_csparse.h.

template<typename MatrixType >

MatrixStructure g2o::LinearSolverCSparse< MatrixType >::_matrixStructure [protected]

Definition at line 221 of file linear_solver_csparse.h.

template<typename MatrixType >

VectorXi g2o::LinearSolverCSparse< MatrixType >::_scalarPermutation [protected]

Definition at line 222 of file linear_solver_csparse.h.

template<typename MatrixType >

css* g2o::LinearSolverCSparse< MatrixType >::_symbolicDecomposition [protected]

Definition at line 215 of file linear_solver_csparse.h.

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

• linear_solver_csparse.h