#include <Cholesky.h>

Inheritance diagram for isam::Cholesky:

Public Member Functions
virtual void	factorize (const SparseSystem &Ab, Eigen::VectorXd *delta=NULL, double lambda=0.)=0
virtual int *	get_order ()=0
virtual void	get_R (SparseSystem &R)=0
virtual	~Cholesky ()
Static Public Member Functions
static Cholesky *	Create ()
Protected Member Functions
	Cholesky ()

Detailed Description

Definition at line 36 of file Cholesky.h.

Constructor & Destructor Documentation

virtual isam::Cholesky::~Cholesky ( ) [inline, virtual]

Definition at line 38 of file Cholesky.h.

isam::Cholesky::Cholesky ( ) [inline, protected]

Definition at line 65 of file Cholesky.h.

Cholesky * isam::Cholesky::Create ( ) [static]

Definition at line 393 of file Cholesky.cpp.

virtual void isam::Cholesky::factorize	(	const SparseSystem &	Ab,
		Eigen::VectorXd *	delta = `NULL`,
		double	lambda = `0.`
	)		`[pure virtual]`

Factorize a given system Ax=b and optionally solve.

Parameters:

Ab	SparseSystem with measurement Jacobian A and right hand side b.
delta	Optional parameter to return solution of system.
lambda	Adds elements to diagonal of information matrix A'A before factorization, used for Levenberg-Marquardt algorithm.

virtual int* isam::Cholesky::get_order ( ) [pure virtual]

Access the variable ordering used for Cholesky factorization.

virtual void isam::Cholesky::get_R ( SparseSystem & R ) [pure virtual]

Copy R into a SparseSystem data structure (expensive, so can be avoided during batch factorization).

Parameters:

R	SparseSystem that upon return will contain the R factor.

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