Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes | List of all members
g2o::MarginalCovarianceCholesky Class Reference

computing the marginal covariance given a cholesky factor (lower triangle of the factor) More...

#include <marginal_covariance_cholesky.h>

Public Member Functions

void computeCovariance (double **covBlocks, const std::vector< int > &blockIndices)
 
void computeCovariance (SparseBlockMatrix< MatrixXd > &spinv, const std::vector< int > &rowBlockIndices, const std::vector< std::pair< int, int > > &blockIndices)
 
 MarginalCovarianceCholesky ()
 
void setCholeskyFactor (int n, int *Lp, int *Li, double *Lx, int *permInv)
 
 ~MarginalCovarianceCholesky ()
 

Protected Types

typedef std::tr1::unordered_map< int, double > LookupMap
 

Protected Member Functions

double computeEntry (int r, int c)
 
int computeIndex (int r, int c) const
 compute the index used for hashing More...
 

Protected Attributes

int * _Ai
 row indices of the CCS storage More...
 
int * _Ap
 column pointer of the CCS storage More...
 
double * _Ax
 values of the cholesky factor More...
 
std::vector< double > _diag
 cache 1 / H_ii to avoid recalculations More...
 
LookupMap _map
 hash look up table for the already computed entries More...
 
int _n
 L is an n X n matrix. More...
 
int * _perm
 permutation of the cholesky factor. Variable re-ordering for better fill-in More...
 

Detailed Description

computing the marginal covariance given a cholesky factor (lower triangle of the factor)

Definition at line 48 of file marginal_covariance_cholesky.h.

Member Typedef Documentation

typedef std::tr1::unordered_map<int, double> g2o::MarginalCovarianceCholesky::LookupMap
protected

hash struct for storing the matrix elements needed to compute the covariance

Definition at line 53 of file marginal_covariance_cholesky.h.

Constructor & Destructor Documentation

g2o::MarginalCovarianceCholesky::MarginalCovarianceCholesky ( )

Definition at line 45 of file marginal_covariance_cholesky.cpp.

g2o::MarginalCovarianceCholesky::~MarginalCovarianceCholesky ( )

Definition at line 50 of file marginal_covariance_cholesky.cpp.

Member Function Documentation

void g2o::MarginalCovarianceCholesky::computeCovariance ( double **  covBlocks,
const std::vector< int > &  blockIndices 
)

compute the marginal cov for the given block indices, write the result to the covBlocks memory (which has to be provided by the caller).

Definition at line 102 of file marginal_covariance_cholesky.cpp.

void g2o::MarginalCovarianceCholesky::computeCovariance ( SparseBlockMatrix< MatrixXd > &  spinv,
const std::vector< int > &  rowBlockIndices,
const std::vector< std::pair< int, int > > &  blockIndices 
)

compute the marginal cov for the given block indices, write the result in spinv).

Definition at line 154 of file marginal_covariance_cholesky.cpp.

double g2o::MarginalCovarianceCholesky::computeEntry ( int  r,
int  c 
)
protected

compute one entry in the covariance, r and c are values after applying the permutation, and upper triangular. May issue recursive calls to itself to compute the missing values.

Definition at line 71 of file marginal_covariance_cholesky.cpp.

int g2o::MarginalCovarianceCholesky::computeIndex ( int  r,
int  c 
) const
inlineprotected

compute the index used for hashing

Definition at line 93 of file marginal_covariance_cholesky.h.

void g2o::MarginalCovarianceCholesky::setCholeskyFactor ( int  n,
int *  Lp,
int *  Li,
double *  Lx,
int *  permInv 
)

set the CCS representation of the cholesky factor along with the inverse permutation used to reduce the fill-in. permInv might be 0, will then not permute the entries.

The pointers provided by the user need to be still valid when calling computeCovariance(). The pointers are owned by the caller, MarginalCovarianceCholesky does not free the pointers.

Definition at line 54 of file marginal_covariance_cholesky.cpp.

Member Data Documentation

int* g2o::MarginalCovarianceCholesky::_Ai
protected

row indices of the CCS storage

Definition at line 85 of file marginal_covariance_cholesky.h.

int* g2o::MarginalCovarianceCholesky::_Ap
protected

column pointer of the CCS storage

Definition at line 84 of file marginal_covariance_cholesky.h.

double* g2o::MarginalCovarianceCholesky::_Ax
protected

values of the cholesky factor

Definition at line 86 of file marginal_covariance_cholesky.h.

std::vector<double> g2o::MarginalCovarianceCholesky::_diag
protected

cache 1 / H_ii to avoid recalculations

Definition at line 90 of file marginal_covariance_cholesky.h.

LookupMap g2o::MarginalCovarianceCholesky::_map
protected

hash look up table for the already computed entries

Definition at line 89 of file marginal_covariance_cholesky.h.

int g2o::MarginalCovarianceCholesky::_n
protected

L is an n X n matrix.

Definition at line 83 of file marginal_covariance_cholesky.h.

int* g2o::MarginalCovarianceCholesky::_perm
protected

permutation of the cholesky factor. Variable re-ordering for better fill-in

Definition at line 87 of file marginal_covariance_cholesky.h.


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


orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47