basic solver for Ax = b which has to reimplemented for different linear algebra libraries More...

#include <linear_solver_cholmod.h>

Inheritance diagram for g2o::LinearSolverCholmod< MatrixType >:

Public Member Functions
bool	blockOrdering () const
	do the AMD ordering on the blocks or on the scalar matrix
virtual bool	init ()
	LinearSolverCholmod ()
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	~LinearSolverCholmod ()
Protected Member Functions
void	computeSymbolicDecomposition (const SparseBlockMatrix< MatrixType > &A)
void	fillCholmodExt (const SparseBlockMatrix< MatrixType > &A, bool onlyValues)
Protected Attributes
bool	_blockOrdering
VectorXi	_blockPermutation
cholmod_common	_cholmodCommon
cholmod_factor *	_cholmodFactor
CholmodExt *	_cholmodSparse
MatrixStructure	_matrixStructure
VectorXi	_scalarPermutation

Detailed Description

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

basic solver for Ax = b which has to reimplemented for different linear algebra libraries

Definition at line 68 of file linear_solver_cholmod.h.

Constructor & Destructor Documentation

template<typename MatrixType>

g2o::LinearSolverCholmod< MatrixType >::LinearSolverCholmod ( ) [inline]

Definition at line 71 of file linear_solver_cholmod.h.

template<typename MatrixType>

virtual g2o::LinearSolverCholmod< MatrixType >::~LinearSolverCholmod ( ) [inline, virtual]

Definition at line 90 of file linear_solver_cholmod.h.

Member Function Documentation

template<typename MatrixType>

bool g2o::LinearSolverCholmod< MatrixType >::blockOrdering ( ) const [inline]

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

Definition at line 292 of file linear_solver_cholmod.h.

template<typename MatrixType>

void g2o::LinearSolverCholmod< MatrixType >::computeSymbolicDecomposition ( const SparseBlockMatrix< MatrixType > & A ) [inline, protected]

Definition at line 306 of file linear_solver_cholmod.h.

template<typename MatrixType>

void g2o::LinearSolverCholmod< MatrixType >::fillCholmodExt	(	const SparseBlockMatrix< MatrixType > &	A,
		bool	onlyValues
	)		`[inline, protected]`

Definition at line 386 of file linear_solver_cholmod.h.

template<typename MatrixType>

virtual bool g2o::LinearSolverCholmod< MatrixType >::init ( ) [inline, virtual]

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

Implements g2o::LinearSolver< MatrixType >.

Definition at line 103 of file linear_solver_cholmod.h.

template<typename MatrixType>

void g2o::LinearSolverCholmod< MatrixType >::setBlockOrdering ( bool blockOrdering ) [inline]

Definition at line 293 of file linear_solver_cholmod.h.

template<typename MatrixType>

bool g2o::LinearSolverCholmod< 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 115 of file linear_solver_cholmod.h.

template<typename MatrixType>

bool g2o::LinearSolverCholmod< 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 168 of file linear_solver_cholmod.h.

template<typename MatrixType>

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