g2o::LinearSolverCCS< MatrixType > Class Template Reference

Solver with faster iterating structure for the linear matrix. More...

#include <linear_solver.h>

Inheritance diagram for g2o::LinearSolverCCS< MatrixType >:

Collaboration diagram for g2o::LinearSolverCCS< MatrixType >:

Public Member Functions
	LinearSolverCCS ()
	~LinearSolverCCS ()
virtual bool	solveBlocks (double **&blocks, const SparseBlockMatrix< MatrixType > &A)
virtual bool	solvePattern (SparseBlockMatrix< MatrixX > &spinv, const std::vector< std::pair< int, int > > &blockIndices, const SparseBlockMatrix< MatrixType > &A)
bool	blockOrdering () const
	do the AMD ordering on the blocks or on the scalar matrix
void	setBlockOrdering (bool blockOrdering)
Public Member Functions inherited from g2o::LinearSolver< MatrixType >
	LinearSolver ()
virtual	~LinearSolver ()
virtual bool	init ()=0
virtual bool	solve (const SparseBlockMatrix< MatrixType > &A, double *x, double *b)=0
bool	writeDebug () const
	write a debug dump of the system matrix if it is not PSD in solve
void	setWriteDebug (bool b)

Protected Member Functions
void	initMatrixStructure (const SparseBlockMatrix< MatrixType > &A)
virtual bool	solveBlocks_impl (const SparseBlockMatrix< MatrixType > &A, std::function< void(MarginalCovarianceCholesky &)> compute)=0

Protected Attributes
SparseBlockMatrixCCS< MatrixType > *	_ccsMatrix
bool	_blockOrdering
Protected Attributes inherited from g2o::LinearSolver< MatrixType >
bool	_writeDebug

Additional Inherited Members
Static Public Member Functions inherited from g2o::LinearSolver< MatrixType >
static void	allocateBlocks (const SparseBlockMatrix< MatrixType > &A, double **&blocks)
	allocate block memory structure
static void	deallocateBlocks (const SparseBlockMatrix< MatrixType > &A, double **&blocks)
	de-allocate the block structure
template<typename BlockDerived , typename ScalarDerived >
static void	blockToScalarPermutation (const SparseBlockMatrix< MatrixType > &A, const Eigen::MatrixBase< BlockDerived > &p, const Eigen::MatrixBase< ScalarDerived > &scalar)

Detailed Description

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

Solver with faster iterating structure for the linear matrix.

Definition at line 150 of file linear_solver.h.

Constructor & Destructor Documentation

LinearSolverCCS()

template<typename MatrixType >

g2o::LinearSolverCCS< MatrixType >::LinearSolverCCS ( )

inline

Definition at line 152 of file linear_solver.h.

      : LinearSolver<MatrixType>(), _ccsMatrix(0), _blockOrdering(true) {}

~LinearSolverCCS()

template<typename MatrixType >

g2o::LinearSolverCCS< MatrixType >::~LinearSolverCCS ( )

inline

Definition at line 154 of file linear_solver.h.

{ delete _ccsMatrix; }

References g2o::LinearSolverCCS< MatrixType >::_ccsMatrix.

Member Function Documentation

blockOrdering()

template<typename MatrixType >

bool g2o::LinearSolverCCS< MatrixType >::blockOrdering ( ) const

inline

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

Definition at line 176 of file linear_solver.h.

{ return _blockOrdering; }

References g2o::LinearSolverCCS< MatrixType >::_blockOrdering.

Referenced by g2o::LinearSolverCholmod< MatrixType >::computeSymbolicDecomposition(), g2o::LinearSolverCSparse< MatrixType >::computeSymbolicDecomposition(), g2o::LinearSolverEigen< MatrixType >::computeSymbolicDecomposition(), and g2o::LinearSolverCCS< MatrixType >::setBlockOrdering().

initMatrixStructure()

template<typename MatrixType >

void g2o::LinearSolverCCS< MatrixType >::initMatrixStructure ( const SparseBlockMatrix< MatrixType > &  A )

inlineprotected

Definition at line 183 of file linear_solver.h.

                                                                   {
    delete _ccsMatrix;
    _ccsMatrix = new SparseBlockMatrixCCS<MatrixType>(A.rowBlockIndices(),
                                                      A.colBlockIndices());
    A.fillSparseBlockMatrixCCS(*_ccsMatrix);
  }

References g2o::LinearSolverCCS< MatrixType >::_ccsMatrix, g2o::SparseBlockMatrix< MatrixType >::colBlockIndices(), g2o::SparseBlockMatrix< MatrixType >::fillSparseBlockMatrixCCS(), and g2o::SparseBlockMatrix< MatrixType >::rowBlockIndices().

Referenced by g2o::LinearSolverCholmod< MatrixType >::fillCholmodExt(), g2o::LinearSolverCSparse< MatrixType >::fillCSparse(), and g2o::LinearSolverEigen< MatrixType >::fillSparseMatrix().

setBlockOrdering()

template<typename MatrixType >

void g2o::LinearSolverCCS< MatrixType >::setBlockOrdering ( bool  blockOrdering )

inline

Definition at line 177 of file linear_solver.h.

{ _blockOrdering = blockOrdering; }

References g2o::LinearSolverCCS< MatrixType >::_blockOrdering, and g2o::LinearSolverCCS< MatrixType >::blockOrdering().

solveBlocks()

template<typename MatrixType >

virtual bool g2o::LinearSolverCCS< MatrixType >::solveBlocks ( double **&  blocks, const SparseBlockMatrix< MatrixType > &  A  )

inlinevirtual

Inverts the diagonal blocks of A

Returns

false if not defined.

Reimplemented from g2o::LinearSolver< MatrixType >.

Definition at line 156 of file linear_solver.h.

                                                                   {
    auto compute = [&](MarginalCovarianceCholesky& mcc) {
      if (!blocks) LinearSolverCCS<MatrixType>::allocateBlocks(A, blocks);
      mcc.computeCovariance(blocks, A.rowBlockIndices());
    };
    return solveBlocks_impl(A, compute);
  }

References g2o::LinearSolver< MatrixType >::allocateBlocks(), g2o::SparseBlockMatrix< MatrixType >::rowBlockIndices(), and g2o::LinearSolverCCS< MatrixType >::solveBlocks_impl().

solveBlocks_impl()

template<typename MatrixType >

virtual bool g2o::LinearSolverCCS< MatrixType >::solveBlocks_impl ( const SparseBlockMatrix< MatrixType > &  A, std::function< void(MarginalCovarianceCholesky &)>  compute  )

protectedpure virtual

Implemented in g2o::LinearSolverCholmod< MatrixType >, g2o::LinearSolverCSparse< MatrixType >, and g2o::LinearSolverEigen< MatrixType >.

Referenced by g2o::LinearSolverCCS< MatrixType >::solveBlocks(), and g2o::LinearSolverCCS< MatrixType >::solvePattern().

solvePattern()

template<typename MatrixType >

virtual bool g2o::LinearSolverCCS< MatrixType >::solvePattern ( SparseBlockMatrix< MatrixX > &  spinv, const std::vector< std::pair< int, int > > &  blockIndices, const SparseBlockMatrix< MatrixType > &  A  )

inlinevirtual

Inverts the a block pattern of A in spinv

Returns

false if not defined.

Reimplemented from g2o::LinearSolver< MatrixType >.

Definition at line 165 of file linear_solver.h.

                                              {
    auto compute = [&](MarginalCovarianceCholesky& mcc) {
      mcc.computeCovariance(spinv, A.rowBlockIndices(), blockIndices);
    };
    return solveBlocks_impl(A, compute);
  }

References g2o::SparseBlockMatrix< MatrixType >::rowBlockIndices(), and g2o::LinearSolverCCS< MatrixType >::solveBlocks_impl().

Member Data Documentation

_blockOrdering

template<typename MatrixType >

bool g2o::LinearSolverCCS< MatrixType >::_blockOrdering

protected

Definition at line 181 of file linear_solver.h.

Referenced by g2o::LinearSolverCCS< MatrixType >::blockOrdering(), and g2o::LinearSolverCCS< MatrixType >::setBlockOrdering().

_ccsMatrix

template<typename MatrixType >

SparseBlockMatrixCCS<MatrixType>* g2o::LinearSolverCCS< MatrixType >::_ccsMatrix

protected

Definition at line 180 of file linear_solver.h.

Referenced by g2o::LinearSolverCholmod< MatrixType >::fillCholmodExt(), g2o::LinearSolverCSparse< MatrixType >::fillCSparse(), g2o::LinearSolverEigen< MatrixType >::fillSparseMatrix(), g2o::LinearSolverCCS< MatrixType >::initMatrixStructure(), and g2o::LinearSolverCCS< MatrixType >::~LinearSolverCCS().

---

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

• /build/reproducible-path/g2o-0~20230806/g2o/core/linear_solver.h