Public Member Functions | Static Public Member Functions | Protected Member Functions
isam::Cholesky Class Reference

#include <Cholesky.h>

Inheritance diagram for isam::Cholesky:
Inheritance graph
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List of all members.

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 CholeskyCreate ()

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.


Member Function Documentation

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:
AbSparseSystem with measurement Jacobian A and right hand side b.
deltaOptional parameter to return solution of system.
lambdaAdds 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.

Returns:
Pointer to variable ordering.

Implemented in isam::CholeskyImplCSparse, and isam::CholeskyImpl.

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:
RSparseSystem that upon return will contain the R factor.

Implemented in isam::CholeskyImplCSparse, and isam::CholeskyImpl.


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


demo_lidar
Author(s): Ji Zhang
autogenerated on Sun Oct 5 2014 23:22:43