Public Member Functions | Public Attributes | List of all members
sba::CSparse Class Reference

#include <csparse.h>

Public Member Functions

void addDiagBlock (Matrix< double, 6, 6 > &m, int n)
 
void addOffdiagBlock (Matrix< double, 6, 6 > &m, int ii, int jj)
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CSparse ()
 
int doBPCG (int iters, double tol, int sba_iter)
 
bool doChol ()
 
void incDiagBlocks (double lam)
 
void setupBlockStructure (int n)
 
void setupCSstructure (double diaginc, bool init=false)
 
void uncompress (MatrixXd &m)
 
 ~CSparse ()
 

Public Attributes

cs * A
 
int asize
 
VectorXd B
 
jacobiBPCG< 6 > bpcg
 
vector< map< int, Matrix< double, 6, 6 >, less< int >, aligned_allocator< Matrix< double, 6, 6 > > > > cols
 
int csize
 
vector< Matrix< double, 6, 6 >, aligned_allocator< Matrix< double, 6, 6 > > > diag
 
int nnz
 
bool useCholmod
 

Detailed Description

Definition at line 81 of file csparse.h.

Constructor & Destructor Documentation

sba::CSparse::CSparse ( )

Definition at line 74 of file csparse.cpp.

sba::CSparse::~CSparse ( )

Definition at line 87 of file csparse.cpp.

Member Function Documentation

void sba::CSparse::addDiagBlock ( Matrix< double, 6, 6 > &  m,
int  n 
)
inline

Definition at line 101 of file csparse.h.

void sba::CSparse::addOffdiagBlock ( Matrix< double, 6, 6 > &  m,
int  ii,
int  jj 
)

Definition at line 131 of file csparse.cpp.

int sba::CSparse::doBPCG ( int  iters,
double  tol,
int  sba_iter 
)

Definition at line 384 of file csparse.cpp.

bool sba::CSparse::doChol ( )

Definition at line 307 of file csparse.cpp.

void sba::CSparse::incDiagBlocks ( double  lam)

Definition at line 124 of file csparse.cpp.

void sba::CSparse::setupBlockStructure ( int  n)

Definition at line 94 of file csparse.cpp.

void sba::CSparse::setupCSstructure ( double  diaginc,
bool  init = false 
)

Definition at line 151 of file csparse.cpp.

void sba::CSparse::uncompress ( MatrixXd &  m)

Definition at line 287 of file csparse.cpp.

Member Data Documentation

cs* sba::CSparse::A

Definition at line 118 of file csparse.h.

int sba::CSparse::asize

Definition at line 114 of file csparse.h.

VectorXd sba::CSparse::B

Definition at line 121 of file csparse.h.

jacobiBPCG<6> sba::CSparse::bpcg

Definition at line 133 of file csparse.h.

vector< map<int,Matrix<double,6,6>, less<int>, aligned_allocator<Matrix<double,6,6> > > > sba::CSparse::cols

Definition at line 96 of file csparse.h.

int sba::CSparse::csize

Definition at line 114 of file csparse.h.

vector< Matrix<double,6,6>, aligned_allocator<Matrix<double,6,6> > > sba::CSparse::diag

Definition at line 93 of file csparse.h.

int sba::CSparse::nnz

Definition at line 115 of file csparse.h.

bool sba::CSparse::useCholmod

Definition at line 124 of file csparse.h.


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


sparse_bundle_adjustment
Author(s):
autogenerated on Fri Apr 3 2020 03:30:54