g2o::SparseBlockMatrix< MatrixType > Class Template Reference

Sparse matrix which uses blocks. More...

#include <sparse_block_matrix.h>

Public Types
typedef MatrixType	SparseMatrixBlock
	this is the type of the elementary block, it is an Eigen::Matrix.
typedef std::map< int, SparseMatrixBlock * >	IntBlockMap

Public Member Functions
int	cols () const
	columns of the matrix
int	rows () const
	rows of the matrix
	SparseBlockMatrix (const int *rbi, const int *cbi, int rb, int cb, bool hasStorage=true)
	SparseBlockMatrix ()
	~SparseBlockMatrix ()
void	clear (bool dealloc=false)
SparseMatrixBlock *	block (int r, int c, bool alloc=false)
const SparseMatrixBlock *	block (int r, int c) const
	returns the block at location r,c
int	rowsOfBlock (int r) const
	how many rows does the block at block-row r has?
int	colsOfBlock (int c) const
	how many cols does the block at block-col c has?
int	rowBaseOfBlock (int r) const
	where does the row at block-row r starts?
int	colBaseOfBlock (int c) const
	where does the col at block-col r starts?
size_t	nonZeros () const
	number of non-zero elements
size_t	nonZeroBlocks () const
	number of allocated blocks
SparseBlockMatrix *	clone () const
	deep copy of a sparse-block-matrix;
SparseBlockMatrix *	slice (int rmin, int rmax, int cmin, int cmax, bool alloc=true) const
template<class MatrixTransposedType >
bool	transpose (SparseBlockMatrix< MatrixTransposedType > &dest) const
template<class MatrixTransposedType >
std::unique_ptr< SparseBlockMatrix< MatrixTransposedType > >	transposed () const
bool	add (SparseBlockMatrix< MatrixType > &dest) const
	adds the current matrix to the destination
std::unique_ptr< SparseBlockMatrix< MatrixType > >	added () const
template<class MatrixResultType , class MatrixFactorType >
bool	multiply (SparseBlockMatrix< MatrixResultType > *&dest, const SparseBlockMatrix< MatrixFactorType > *M) const
	dest = (*this) * M
void	multiply (double *&dest, const double *src) const
	dest = (*this) * src
void	multiplySymmetricUpperTriangle (double *&dest, const double *src) const
void	rightMultiply (double *&dest, const double *src) const
	dest = M * (*this)
void	scale (double a)
	*this *= a
bool	symmPermutation (SparseBlockMatrix< MatrixType > *&dest, const int *pinv, bool onlyUpper=false) const
int	fillCCS (int *Cp, int *Ci, double *Cx, bool upperTriangle=false) const
int	fillCCS (double *Cx, bool upperTriangle=false) const
void	fillBlockStructure (MatrixStructure &ms) const
	exports the non zero blocks in the structure matrix ms
void	fillBlockStructure (int *Cp, int *Ci) const
	exports the non zero blocks into a column compressed structure
const std::vector< IntBlockMap > &	blockCols () const
	the block matrices per block-column
std::vector< IntBlockMap > &	blockCols ()
const std::vector< int > &	rowBlockIndices () const
	indices of the row blocks
std::vector< int > &	rowBlockIndices ()
const std::vector< int > &	colBlockIndices () const
	indices of the column blocks
std::vector< int > &	colBlockIndices ()
bool	writeOctave (const char *filename, bool upperTriangle=true) const
int	fillSparseBlockMatrixCCS (SparseBlockMatrixCCS< MatrixType > &blockCCS) const
int	fillSparseBlockMatrixCCSTransposed (SparseBlockMatrixCCS< MatrixType > &blockCCS) const
void	takePatternFromHash (SparseBlockMatrixHashMap< MatrixType > &hashMatrix)

Protected Attributes
std::vector< int >	_rowBlockIndices
std::vector< int >	_colBlockIndices
std::vector< IntBlockMap >	_blockCols
bool	_hasStorage

Private Member Functions
template<class MatrixTransposedType >
void	transpose_internal (SparseBlockMatrix< MatrixTransposedType > &dest) const
void	add_internal (SparseBlockMatrix< MatrixType > &dest) const

Detailed Description

template<class MatrixType = MatrixX>
class g2o::SparseBlockMatrix< MatrixType >

Sparse matrix which uses blocks.

Template class that specifies a sparse block matrix. A block matrix is a sparse matrix made of dense blocks. These blocks cannot have a random pattern, but follow a (variable) grid structure. This structure is specified by a partition of the rows and the columns of the matrix. The blocks are represented by the Eigen::Matrix structure, thus they can be statically or dynamically allocated. For efficiency reasons it is convenient to allocate them statically, when possible. A static block matrix has all blocks of the same size, and the size of the block is specified by the template argument. If this is not the case, and you have different block sizes than you have to use a dynamic-block matrix (default template argument).

Definition at line 64 of file sparse_block_matrix.h.

Member Typedef Documentation

IntBlockMap

template<class MatrixType = MatrixX>

typedef std::map<int, SparseMatrixBlock*> g2o::SparseBlockMatrix< MatrixType >::IntBlockMap

Definition at line 78 of file sparse_block_matrix.h.

SparseMatrixBlock

template<class MatrixType = MatrixX>

typedef MatrixType g2o::SparseBlockMatrix< MatrixType >::SparseMatrixBlock

this is the type of the elementary block, it is an Eigen::Matrix.

Definition at line 67 of file sparse_block_matrix.h.

Constructor & Destructor Documentation

SparseBlockMatrix() [1/2]

template<class MatrixType >

g2o::SparseBlockMatrix< MatrixType >::SparseBlockMatrix	(	const int *	rbi,
		const int *	cbi,
		int	rb,
		int	cb,
		bool	hasStorage = true
	)

constructs a sparse block matrix having a specific layout

Parameters

rbi	array of int containing the row layout of the blocks. the component i of the array should contain the index of the first row of the block i+1.
cbi	array of int containing the column layout of the blocks. the component i of the array should contain the index of the first col of the block i+1.
rb	number of row blocks
cb	number of col blocks
hasStorage	set it to true if the matrix "owns" the blocks, thus it deletes it on destruction. if false the matrix is only a "view" over an existing structure.

Definition at line 32 of file sparse_block_matrix.hpp.

    : _rowBlockIndices(rbi, rbi + rb),
      _colBlockIndices(cbi, cbi + cb),
      _blockCols(cb),
      _hasStorage(hasStorage) {}

SparseBlockMatrix() [2/2]

template<class MatrixType >

g2o::SparseBlockMatrix< MatrixType >::SparseBlockMatrix

(

)

Definition at line 41 of file sparse_block_matrix.hpp.

    : _blockCols(0), _hasStorage(true) {}

~SparseBlockMatrix()

template<class MatrixType >

g2o::SparseBlockMatrix< MatrixType >::~SparseBlockMatrix

(

)

Definition at line 64 of file sparse_block_matrix.hpp.

                                                  {
  if (_hasStorage) clear(true);
}

Member Function Documentation

add()

template<class MatrixType >

bool g2o::SparseBlockMatrix< MatrixType >::add

(

SparseBlockMatrix< MatrixType > &

dest

)

const

adds the current matrix to the destination

Definition at line 184 of file sparse_block_matrix.hpp.

                                               {
  if (!dest._hasStorage) return false;
  if (_rowBlockIndices.size() != dest._rowBlockIndices.size()) return false;
  if (_colBlockIndices.size() != dest._colBlockIndices.size()) return false;
  for (size_t i = 0; i < _rowBlockIndices.size(); ++i) {
    if (_rowBlockIndices[i] != dest._rowBlockIndices[i]) return false;
  }
  for (size_t i = 0; i < _colBlockIndices.size(); ++i) {
    if (_colBlockIndices[i] != dest._colBlockIndices[i]) return false;
  }
 
  add_internal(dest);
  return true;
}

References g2o::SparseBlockMatrix< MatrixType >::_colBlockIndices, g2o::SparseBlockMatrix< MatrixType >::_hasStorage, and g2o::SparseBlockMatrix< MatrixType >::_rowBlockIndices.

add_internal()

template<class MatrixType >

void g2o::SparseBlockMatrix< MatrixType >::add_internal ( SparseBlockMatrix< MatrixType > &  dest ) const

private

Definition at line 169 of file sparse_block_matrix.hpp.

                                               {
  for (size_t i = 0; i < _blockCols.size(); ++i) {
    for (typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator
             it = _blockCols[i].begin();
         it != _blockCols[i].end(); ++it) {
      typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* s = it->second;
      typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* d =
          dest.block(it->first, i, true);
      (*d) += *s;
    }
  }
}

added()

template<class MatrixType >

std::unique_ptr< SparseBlockMatrix< MatrixType > > g2o::SparseBlockMatrix< MatrixType >::added

(

)

const

Definition at line 202 of file sparse_block_matrix.hpp.

                                           {
  auto a = std::make_unique<SparseBlockMatrix>(
      &_rowBlockIndices[0], &_colBlockIndices[0], _rowBlockIndices.size(),
      _colBlockIndices.size());
  add_internal(*a);
  return a;
}

block() [1/2]

template<class MatrixType >

const SparseBlockMatrix< MatrixType >::SparseMatrixBlock * g2o::SparseBlockMatrix< MatrixType >::block	(	int	r,
		int	c
	)		const

returns the block at location r,c

Definition at line 97 of file sparse_block_matrix.hpp.

                                                       {
  typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator it =
      _blockCols[c].find(r);
  if (it == _blockCols[c].end()) return nullptr;
  return it->second;
}

block() [2/2]

template<class MatrixType >

SparseBlockMatrix< MatrixType >::SparseMatrixBlock * g2o::SparseBlockMatrix< MatrixType >::block	(	int	r,
		int	c,
		bool	alloc = false
	)

returns the block at location r,c. if alloc=true he block is created if it does not exist

Definition at line 70 of file sparse_block_matrix.hpp.

                                                             {
  typename SparseBlockMatrix<MatrixType>::IntBlockMap::iterator it =
      _blockCols[c].find(r);
  typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* _block = 0;
  if (it == _blockCols[c].end()) {
    if (!_hasStorage && !alloc)
      return nullptr;
    else {
      int rb = rowsOfBlock(r);
      int cb = colsOfBlock(c);
      _block =
          new typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock(rb, cb);
      _block->setZero();
      std::pair<typename SparseBlockMatrix<MatrixType>::IntBlockMap::iterator,
                bool>
          result = _blockCols[c].insert(std::make_pair(r, _block));
      (void)result;
      assert(result.second);
    }
  } else {
    _block = it->second;
  }
  return _block;
}

Referenced by g2o::MarginalCovarianceCholesky::computeCovariance(), g2o::Slam2DViewer::draw(), g2o::EdgeLabeler::labelEdge(), main(), main(), g2o::SolverSLAM2DLinear::solveOrientation(), g2o::SparseBlockMatrix< MatrixType >::symmPermutation(), testMarginals(), g2o::SparseBlockMatrix< MatrixType >::transpose_internal(), and g2o::SparseOptimizerIncremental::updateInitialization().

blockCols() [1/2]

template<class MatrixType = MatrixX>

std::vector< IntBlockMap > & g2o::SparseBlockMatrix< MatrixType >::blockCols ( )

inline

Definition at line 212 of file sparse_block_matrix.h.

{ return _blockCols; }

References g2o::SparseBlockMatrix< MatrixType >::_blockCols.

blockCols() [2/2]

template<class MatrixType = MatrixX>

const std::vector< IntBlockMap > & g2o::SparseBlockMatrix< MatrixType >::blockCols ( ) const

inline

the block matrices per block-column

Definition at line 211 of file sparse_block_matrix.h.

{ return _blockCols; }

References g2o::SparseBlockMatrix< MatrixType >::_blockCols.

Referenced by g2o::LinearSolverEigen< MatrixType >::computeSymbolicDecomposition(), g2o::operator<<(), g2o::LinearSolverDense< MatrixType >::solve(), g2o::LinearSolverPCG< MatrixType >::solve(), and g2o::SparseOptimizerIncremental::updateInitialization().

clear()

template<class MatrixType >

void g2o::SparseBlockMatrix< MatrixType >::clear

(

bool

dealloc = false

)

this zeroes all the blocks. If dealloc=true the blocks are removed from memory

Definition at line 45 of file sparse_block_matrix.hpp.

                                                      {
#ifdef G2O_OPENMP
#pragma omp parallel for default(shared) if (_blockCols.size() > 100)
#endif
  for (int i = 0; i < static_cast<int>(_blockCols.size()); ++i) {
    for (typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator
             it = _blockCols[i].begin();
         it != _blockCols[i].end(); ++it) {
      typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* b = it->second;
      if (_hasStorage && dealloc)
        delete b;
      else
        b->setZero();
    }
    if (_hasStorage && dealloc) _blockCols[i].clear();
  }
}

References g2o::SparseBlockMatrix< MatrixType >::clear().

Referenced by g2o::SparseBlockMatrix< MatrixType >::clear(), g2o::SparseBlockMatrix< MatrixType >::symmPermutation(), g2o::SparseOptimizerIncremental::updateInitialization(), and g2o::SparseOptimizerIncremental::~SparseOptimizerIncremental().

clone()

template<class MatrixType >

SparseBlockMatrix< MatrixType > * g2o::SparseBlockMatrix< MatrixType >::clone

(

)

const

deep copy of a sparse-block-matrix;

Definition at line 105 of file sparse_block_matrix.hpp.

                                                                          {
  SparseBlockMatrix* ret =
      new SparseBlockMatrix(&_rowBlockIndices[0], &_colBlockIndices[0],
                            _rowBlockIndices.size(), _colBlockIndices.size());
  for (size_t i = 0; i < _blockCols.size(); ++i) {
    for (typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator
             it = _blockCols[i].begin();
         it != _blockCols[i].end(); ++it) {
      typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* b =
          new typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock(
              *it->second);
      ret->_blockCols[i].insert(std::make_pair(it->first, b));
    }
  }
  ret->_hasStorage = true;
  return ret;
}

colBaseOfBlock()

template<class MatrixType = MatrixX>

int g2o::SparseBlockMatrix< MatrixType >::colBaseOfBlock ( int  c ) const

inline

where does the col at block-col r starts?

Definition at line 129 of file sparse_block_matrix.h.

                                         {
    return c ? _colBlockIndices[c - 1] : 0;
  }

References g2o::SparseBlockMatrix< MatrixType >::_colBlockIndices.

Referenced by g2o::LinearSolver< MatrixType >::blockToScalarPermutation(), g2o::MarginalCovarianceCholesky::computeCovariance(), g2o::LinearSolverCholmodOnline< MatrixType >::computeSymbolicDecomposition(), and g2o::LinearSolverDense< MatrixType >::solve().

colBlockIndices() [1/2]

template<class MatrixType = MatrixX>

std::vector< int > & g2o::SparseBlockMatrix< MatrixType >::colBlockIndices ( )

inline

Definition at line 220 of file sparse_block_matrix.h.

{ return _colBlockIndices; }

References g2o::SparseBlockMatrix< MatrixType >::_colBlockIndices.

colBlockIndices() [2/2]

template<class MatrixType = MatrixX>

const std::vector< int > & g2o::SparseBlockMatrix< MatrixType >::colBlockIndices ( ) const

inline

indices of the column blocks

Definition at line 219 of file sparse_block_matrix.h.

{ return _colBlockIndices; }

References g2o::SparseBlockMatrix< MatrixType >::_colBlockIndices.

Referenced by g2o::LinearSolver< MatrixType >::blockToScalarPermutation(), g2o::LinearSolverCCS< MatrixType >::initMatrixStructure(), g2o::operator<<(), g2o::LinearSolverPCG< MatrixType >::solve(), and g2o::SparseOptimizerIncremental::updateInitialization().

cols()

template<class MatrixType = MatrixX>

int g2o::SparseBlockMatrix< MatrixType >::cols ( ) const

inline

columns of the matrix

Definition at line 70 of file sparse_block_matrix.h.

                          {
    return _colBlockIndices.size() ? _colBlockIndices.back() : 0;
  }

References g2o::SparseBlockMatrix< MatrixType >::_colBlockIndices.

Referenced by g2o::LinearSolver< MatrixType >::blockToScalarPermutation(), g2o::LinearSolverEigen< MatrixType >::computeCholesky(), g2o::SparseOptimizerIncremental::computeCholeskyUpdate(), g2o::LinearSolverEigen< MatrixType >::computeSymbolicDecomposition(), g2o::LinearSolverCholmodOnline< MatrixType >::fillCholmodExt(), g2o::LinearSolverCholmod< MatrixType >::fillCholmodExt(), g2o::LinearSolverCSparse< MatrixType >::fillCSparse(), g2o::SparseBlockMatrix< MatrixType >::nonZeros(), g2o::LinearSolverDense< MatrixType >::solve(), g2o::LinearSolverPCG< MatrixType >::solve(), and g2o::SparseBlockMatrix< MatrixType >::symmPermutation().

colsOfBlock()

template<class MatrixType = MatrixX>

int g2o::SparseBlockMatrix< MatrixType >::colsOfBlock ( int  c ) const

inline

how many cols does the block at block-col c has?

Definition at line 118 of file sparse_block_matrix.h.

                                      {
    return c ? _colBlockIndices[c] - _colBlockIndices[c - 1]
             : _colBlockIndices[0];
  }

References g2o::SparseBlockMatrix< MatrixType >::_colBlockIndices.

Referenced by g2o::LinearSolver< MatrixType >::allocateBlocks(), g2o::LinearSolver< MatrixType >::blockToScalarPermutation(), g2o::LinearSolverCholmodOnline< MatrixType >::computeSymbolicDecomposition(), and g2o::LinearSolverDense< MatrixType >::solve().

fillBlockStructure() [1/2]

template<class MatrixType >

void g2o::SparseBlockMatrix< MatrixType >::fillBlockStructure	(	int *	Cp,
		int *	Ci
	)		const

exports the non zero blocks into a column compressed structure

Definition at line 582 of file sparse_block_matrix.hpp.

                                                                             {
  int nz = 0;
  for (int c = 0; c < static_cast<int>(_blockCols.size()); ++c) {
    *Cp = nz;
    for (auto it = _blockCols[c].begin(); it != _blockCols[c].end(); ++it) {
      const int& r = it->first;
      if (r <= c) {
        *Ci++ = r;
        ++nz;
      }
    }
    Cp++;
  }
  *Cp = nz;
  assert(nz <= static_cast<int>(nonZeroBlocks()));
}

fillBlockStructure() [2/2]

template<class MatrixType >

void g2o::SparseBlockMatrix< MatrixType >::fillBlockStructure

(

MatrixStructure &

ms

)

const

exports the non zero blocks in the structure matrix ms

Definition at line 574 of file sparse_block_matrix.hpp.

                               {
  ms.alloc(_colBlockIndices.size(), nonZeroBlocks());
  ms.m = _rowBlockIndices.size();
  fillBlockStructure(ms.Ap, ms.Aii);
}

References g2o::MatrixStructure::Aii, g2o::MatrixStructure::alloc(), g2o::MatrixStructure::Ap, and g2o::MatrixStructure::m.

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

fillCCS() [1/2]

template<class MatrixType >

int g2o::SparseBlockMatrix< MatrixType >::fillCCS	(	double *	Cx,
		bool	upperTriangle = false
	)		const

fill the CCS arrays of a matrix, arrays have to be allocated beforehand. This function only writes the values and assumes that column and row structures have already been written.

Definition at line 516 of file sparse_block_matrix.hpp.

                                                                     {
  assert(Cx && "Target destination is NULL");
  double* CxStart = Cx;
  for (size_t i = 0; i < _blockCols.size(); ++i) {
    int cstart = i ? _colBlockIndices[i - 1] : 0;
    int csize = colsOfBlock(i);
    for (int c = 0; c < csize; ++c) {
      for (typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator
               it = _blockCols[i].begin();
           it != _blockCols[i].end(); ++it) {
        const typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* b =
            it->second;
        int rstart = it->first ? _rowBlockIndices[it->first - 1] : 0;
 
        int elemsToCopy = b->rows();
        if (upperTriangle && rstart == cstart) elemsToCopy = c + 1;
        memcpy(Cx, b->data() + c * b->rows(), elemsToCopy * sizeof(double));
        Cx += elemsToCopy;
      }
    }
  }
  return Cx - CxStart;
}

References g2o::SparseBlockMatrix< MatrixType >::rows().

fillCCS() [2/2]

template<class MatrixType >

int g2o::SparseBlockMatrix< MatrixType >::fillCCS	(	int *	Cp,
		int *	Ci,
		double *	Cx,
		bool	upperTriangle = false
	)		const

fill the CCS arrays of a matrix, arrays have to be allocated beforehand

Definition at line 542 of file sparse_block_matrix.hpp.

                                                                     {
  assert(Cp && Ci && Cx && "Target destination is NULL");
  int nz = 0;
  for (size_t i = 0; i < _blockCols.size(); ++i) {
    int cstart = i ? _colBlockIndices[i - 1] : 0;
    int csize = colsOfBlock(i);
    for (int c = 0; c < csize; ++c) {
      *Cp = nz;
      for (typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator
               it = _blockCols[i].begin();
           it != _blockCols[i].end(); ++it) {
        const typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* b =
            it->second;
        int rstart = it->first ? _rowBlockIndices[it->first - 1] : 0;
 
        int elemsToCopy = b->rows();
        if (upperTriangle && rstart == cstart) elemsToCopy = c + 1;
        for (int r = 0; r < elemsToCopy; ++r) {
          *Cx++ = (*b)(r, c);
          *Ci++ = rstart++;
          ++nz;
        }
      }
      ++Cp;
    }
  }
  *Cp = nz;
  return nz;
}

References g2o::SparseBlockMatrix< MatrixType >::rows().

Referenced by g2o::SparseOptimizerIncremental::computeCholeskyUpdate(), and g2o::LinearSolverCholmodOnline< MatrixType >::fillCholmodExt().

fillSparseBlockMatrixCCS()

template<class MatrixType >

int g2o::SparseBlockMatrix< MatrixType >::fillSparseBlockMatrixCCS

(

SparseBlockMatrixCCS< MatrixType > &

blockCCS

)

const

copy into CCS structure

Returns

number of processed blocks, -1 on error

Definition at line 646 of file sparse_block_matrix.hpp.

                                                      {
  blockCCS.blockCols().resize(blockCols().size());
  int numblocks = 0;
  for (size_t i = 0; i < blockCols().size(); ++i) {
    const IntBlockMap& row = blockCols()[i];
    typename SparseBlockMatrixCCS<MatrixType>::SparseColumn& dest =
        blockCCS.blockCols()[i];
    dest.clear();
    dest.reserve(row.size());
    for (typename IntBlockMap::const_iterator it = row.begin(); it != row.end();
         ++it) {
      dest.push_back(typename SparseBlockMatrixCCS<MatrixType>::RowBlock(
          it->first, it->second));
      ++numblocks;
    }
  }
  return numblocks;
}

References g2o::SparseBlockMatrixCCS< MatrixType >::blockCols().

Referenced by g2o::LinearSolverCCS< MatrixType >::initMatrixStructure().

fillSparseBlockMatrixCCSTransposed()

template<class MatrixType >

int g2o::SparseBlockMatrix< MatrixType >::fillSparseBlockMatrixCCSTransposed

(

SparseBlockMatrixCCS< MatrixType > &

blockCCS

)

const

copy as transposed into a CCS structure

Returns

number of processed blocks, -1 on error

Definition at line 667 of file sparse_block_matrix.hpp.

                                                      {
  blockCCS.blockCols().clear();
  blockCCS.blockCols().resize(_rowBlockIndices.size());
  int numblocks = 0;
  for (size_t i = 0; i < blockCols().size(); ++i) {
    const IntBlockMap& row = blockCols()[i];
    for (typename IntBlockMap::const_iterator it = row.begin(); it != row.end();
         ++it) {
      typename SparseBlockMatrixCCS<MatrixType>::SparseColumn& dest =
          blockCCS.blockCols()[it->first];
      dest.push_back(
          typename SparseBlockMatrixCCS<MatrixType>::RowBlock(i, it->second));
      ++numblocks;
    }
  }
  return numblocks;
}

References g2o::SparseBlockMatrixCCS< MatrixType >::blockCols().

multiply() [1/2]

template<class MatrixType >

void g2o::SparseBlockMatrix< MatrixType >::multiply	(	double *&	dest,
		const double *	src
	)		const

dest = (*this) * src

Definition at line 255 of file sparse_block_matrix.hpp.

                                                                      {
  if (!dest) {
    dest = new double[_rowBlockIndices[_rowBlockIndices.size() - 1]];
    memset(dest, 0,
           _rowBlockIndices[_rowBlockIndices.size() - 1] * sizeof(double));
  }
 
  // map the memory by Eigen
  Eigen::Map<VectorX> destVec(dest, rows());
  const Eigen::Map<const VectorX> srcVec(src, cols());
 
  for (size_t i = 0; i < _blockCols.size(); ++i) {
    int srcOffset = i ? _colBlockIndices[i - 1] : 0;
 
    for (typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator
             it = _blockCols[i].begin();
         it != _blockCols[i].end(); ++it) {
      const typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* a =
          it->second;
      int destOffset = it->first ? _rowBlockIndices[it->first - 1] : 0;
      // destVec += *a * srcVec (according to the sub-vector parts)
      internal::template axpy<
          typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock>(
          *a, srcVec, srcOffset, destVec, destOffset);
    }
  }
}

multiply() [2/2]

template<class MatrixType >

template<class MatrixResultType , class MatrixFactorType >

bool g2o::SparseBlockMatrix< MatrixType >::multiply	(	SparseBlockMatrix< MatrixResultType > *&	dest,
		const SparseBlockMatrix< MatrixFactorType > *	M
	)		const

dest = (*this) * M

Definition at line 212 of file sparse_block_matrix.hpp.

                                                        {
  // sanity check
  if (_colBlockIndices.size() != M->_rowBlockIndices.size()) return false;
  for (size_t i = 0; i < _colBlockIndices.size(); ++i) {
    if (_colBlockIndices[i] != M->_rowBlockIndices[i]) return false;
  }
  if (!dest) {
    dest = new SparseBlockMatrix<MatrixResultType>(
        &_rowBlockIndices[0], &(M->_colBlockIndices[0]),
        _rowBlockIndices.size(), M->_colBlockIndices.size());
  }
  if (!dest->_hasStorage) return false;
  for (size_t i = 0; i < M->_blockCols.size(); ++i) {
    for (typename SparseBlockMatrix<
             MatrixFactorType>::IntBlockMap::const_iterator it =
             M->_blockCols[i].begin();
         it != M->_blockCols[i].end(); ++it) {
      // look for a non-zero block in a row of column it
      int colM = i;
      const typename SparseBlockMatrix<MatrixFactorType>::SparseMatrixBlock* b =
          it->second;
      typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator rbt =
          _blockCols[it->first].begin();
      while (rbt != _blockCols[it->first].end()) {
        // int colA=it->first;
        int rowA = rbt->first;
        typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* a =
            rbt->second;
        typename SparseBlockMatrix<MatrixResultType>::SparseMatrixBlock* c =
            dest->block(rowA, colM, true);
        assert(c->rows() == a->rows());
        assert(c->cols() == b->cols());
        ++rbt;
        (*c) += (*a) * (*b);
      }
    }
  }
  return true;
}

References g2o::SparseBlockMatrix< MatrixType >::_blockCols, g2o::SparseBlockMatrix< MatrixType >::_colBlockIndices, g2o::SparseBlockMatrix< MatrixType >::_hasStorage, and g2o::SparseBlockMatrix< MatrixType >::_rowBlockIndices.

multiplySymmetricUpperTriangle()

template<class MatrixType >

void g2o::SparseBlockMatrix< MatrixType >::multiplySymmetricUpperTriangle	(	double *&	dest,
		const double *	src
	)		const

compute dest = (*this) * src However, assuming that this is a symmetric matrix where only the upper triangle is stored

Definition at line 285 of file sparse_block_matrix.hpp.

                                            {
  if (!dest) {
    dest = new double[_rowBlockIndices[_rowBlockIndices.size() - 1]];
    memset(dest, 0,
           _rowBlockIndices[_rowBlockIndices.size() - 1] * sizeof(double));
  }
 
  // map the memory by Eigen
  Eigen::Map<VectorX> destVec(dest, rows());
  const Eigen::Map<const VectorX> srcVec(src, cols());
 
  for (size_t i = 0; i < _blockCols.size(); ++i) {
    int srcOffset = colBaseOfBlock(i);
    for (typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator
             it = _blockCols[i].begin();
         it != _blockCols[i].end(); ++it) {
      const typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* a =
          it->second;
      int destOffset = rowBaseOfBlock(it->first);
      if (destOffset > srcOffset)  // only upper triangle
        break;
      // destVec += *a * srcVec (according to the sub-vector parts)
      internal::template axpy<
          typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock>(
          *a, srcVec, srcOffset, destVec, destOffset);
      if (destOffset < srcOffset)
        internal::template atxpy<
            typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock>(
            *a, srcVec, destOffset, destVec, srcOffset);
    }
  }
}

nonZeroBlocks()

template<class MatrixType >

size_t g2o::SparseBlockMatrix< MatrixType >::nonZeroBlocks

(

)

const

number of allocated blocks

Definition at line 401 of file sparse_block_matrix.hpp.

                                                          {
  size_t count = 0;
  for (size_t i = 0; i < _blockCols.size(); ++i) count += _blockCols[i].size();
  return count;
}

Referenced by g2o::LinearSolverEigen< MatrixType >::computeSymbolicDecomposition().

nonZeros()

template<class MatrixType >

size_t g2o::SparseBlockMatrix< MatrixType >::nonZeros

(

)

const

number of non-zero elements

Definition at line 408 of file sparse_block_matrix.hpp.

                                                     {
  if (MatrixType::SizeAtCompileTime != Eigen::Dynamic) {
    size_t nnz = nonZeroBlocks() * MatrixType::SizeAtCompileTime;
    return nnz;
  } else {
    size_t count = 0;
    for (size_t i = 0; i < _blockCols.size(); ++i) {
      for (typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator
               it = _blockCols[i].begin();
           it != _blockCols[i].end(); ++it) {
        const typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* a =
            it->second;
        count += a->cols() * a->rows();
      }
    }
    return count;
  }
}

References g2o::SparseBlockMatrix< MatrixType >::cols(), and g2o::SparseBlockMatrix< MatrixType >::rows().

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

rightMultiply()

template<class MatrixType >

void g2o::SparseBlockMatrix< MatrixType >::rightMultiply	(	double *&	dest,
		const double *	src
	)		const

dest = M * (*this)

Definition at line 320 of file sparse_block_matrix.hpp.

                                                                           {
  int destSize = cols();
 
  if (!dest) {
    dest = new double[destSize];
    memset(dest, 0, destSize * sizeof(double));
  }
 
  // map the memory by Eigen
  Eigen::Map<VectorX> destVec(dest, destSize);
  Eigen::Map<const VectorX> srcVec(src, rows());
 
#ifdef G2O_OPENMP
#pragma omp parallel for default(shared) schedule(dynamic, 10)
#endif
  for (int i = 0; i < static_cast<int>(_blockCols.size()); ++i) {
    int destOffset = colBaseOfBlock(i);
    for (typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator
             it = _blockCols[i].begin();
         it != _blockCols[i].end(); ++it) {
      const typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* a =
          it->second;
      int srcOffset = rowBaseOfBlock(it->first);
      // destVec += *a.transpose() * srcVec (according to the sub-vector parts)
      internal::template atxpy<
          typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock>(
          *a, srcVec, srcOffset, destVec, destOffset);
    }
  }
}

rowBaseOfBlock()

template<class MatrixType = MatrixX>

int g2o::SparseBlockMatrix< MatrixType >::rowBaseOfBlock ( int  r ) const

inline

where does the row at block-row r starts?

Definition at line 124 of file sparse_block_matrix.h.

                                         {
    return r ? _rowBlockIndices[r - 1] : 0;
  }

References g2o::SparseBlockMatrix< MatrixType >::_rowBlockIndices.

Referenced by g2o::MarginalCovarianceCholesky::computeCovariance(), and g2o::LinearSolverDense< MatrixType >::solve().

rowBlockIndices() [1/2]

template<class MatrixType = MatrixX>

std::vector< int > & g2o::SparseBlockMatrix< MatrixType >::rowBlockIndices ( )

inline

Definition at line 216 of file sparse_block_matrix.h.

{ return _rowBlockIndices; }

References g2o::SparseBlockMatrix< MatrixType >::_rowBlockIndices.

rowBlockIndices() [2/2]

template<class MatrixType = MatrixX>

const std::vector< int > & g2o::SparseBlockMatrix< MatrixType >::rowBlockIndices ( ) const

inline

indices of the row blocks

Definition at line 215 of file sparse_block_matrix.h.

{ return _rowBlockIndices; }

References g2o::SparseBlockMatrix< MatrixType >::_rowBlockIndices.

Referenced by g2o::LinearSolver< MatrixType >::allocateBlocks(), g2o::LinearSolver< MatrixType >::deallocateBlocks(), g2o::LinearSolverCCS< MatrixType >::initMatrixStructure(), g2o::operator<<(), g2o::LinearSolverPCG< MatrixType >::solve(), g2o::LinearSolverCCS< MatrixType >::solveBlocks(), g2o::LinearSolverCCS< MatrixType >::solvePattern(), and g2o::SparseOptimizerIncremental::updateInitialization().

rows()

template<class MatrixType = MatrixX>

int g2o::SparseBlockMatrix< MatrixType >::rows ( ) const

inline

rows of the matrix

Definition at line 74 of file sparse_block_matrix.h.

                          {
    return _rowBlockIndices.size() ? _rowBlockIndices.back() : 0;
  }

References g2o::SparseBlockMatrix< MatrixType >::_rowBlockIndices.

Referenced by g2o::LinearSolver< MatrixType >::allocateBlocks(), g2o::LinearSolverEigen< MatrixType >::computeCholesky(), g2o::SparseOptimizerIncremental::computeCholeskyUpdate(), g2o::LinearSolverEigen< MatrixType >::computeSymbolicDecomposition(), g2o::SparseBlockMatrix< MatrixType >::fillCCS(), g2o::SparseBlockMatrix< MatrixType >::fillCCS(), g2o::LinearSolverCholmodOnline< MatrixType >::fillCholmodExt(), g2o::LinearSolverCholmod< MatrixType >::fillCholmodExt(), g2o::LinearSolverCSparse< MatrixType >::fillCSparse(), g2o::SparseBlockMatrix< MatrixType >::nonZeros(), g2o::LinearSolverPCG< MatrixType >::solve(), and g2o::SparseBlockMatrix< MatrixType >::symmPermutation().

rowsOfBlock()

template<class MatrixType = MatrixX>

int g2o::SparseBlockMatrix< MatrixType >::rowsOfBlock ( int  r ) const

inline

how many rows does the block at block-row r has?

Definition at line 112 of file sparse_block_matrix.h.

                                      {
    return r ? _rowBlockIndices[r] - _rowBlockIndices[r - 1]
             : _rowBlockIndices[0];
  }

References g2o::SparseBlockMatrix< MatrixType >::_rowBlockIndices.

Referenced by g2o::LinearSolver< MatrixType >::allocateBlocks(), and g2o::LinearSolverDense< MatrixType >::solve().

scale()

template<class MatrixType >

void g2o::SparseBlockMatrix< MatrixType >::scale

(

double

a

)

*this *= a

Definition at line 353 of file sparse_block_matrix.hpp.

                                                   {
  for (size_t i = 0; i < _blockCols.size(); ++i) {
    for (typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator
             it = _blockCols[i].begin();
         it != _blockCols[i].end(); ++it) {
      typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* a = it->second;
      *a *= a_;
    }
  }
}

slice()

template<class MatrixType >

SparseBlockMatrix< MatrixType > * g2o::SparseBlockMatrix< MatrixType >::slice	(	int	rmin,
		int	rmax,
		int	cmin,
		int	cmax,
		bool	alloc = true
	)		const

returns a view or a copy of the block matrix

Parameters

rmin	starting block row
rmax	ending block row
cmin	starting block col
cmax	ending block col
alloc	if true it makes a deep copy, if false it creates a view.

Definition at line 365 of file sparse_block_matrix.hpp.

                                                              {
  int m = rmax - rmin;
  int n = cmax - cmin;
  int rowIdx[m];
  rowIdx[0] = rowsOfBlock(rmin);
  for (int i = 1; i < m; ++i) {
    rowIdx[i] = rowIdx[i - 1] + rowsOfBlock(rmin + i);
  }
 
  int colIdx[n];
  colIdx[0] = colsOfBlock(cmin);
  for (int i = 1; i < n; ++i) {
    colIdx[i] = colIdx[i - 1] + colsOfBlock(cmin + i);
  }
  SparseBlockMatrix* s = new SparseBlockMatrix(rowIdx, colIdx, m, n, true);
  for (int i = 0; i < n; ++i) {
    int mc = cmin + i;
    for (typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator
             it = _blockCols[mc].begin();
         it != _blockCols[mc].end(); ++it) {
      if (it->first >= rmin && it->first < rmax) {
        typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* b =
            alloc ? new
                typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock(
                    *(it->second))
                  : it->second;
        s->_blockCols[i].insert(std::make_pair(it->first - rmin, b));
      }
    }
  }
  s->_hasStorage = alloc;
  return s;
}

References g2o::SparseBlockMatrix< MatrixType >::_blockCols, and g2o::SparseBlockMatrix< MatrixType >::_hasStorage.

symmPermutation()

template<class MatrixType >

bool g2o::SparseBlockMatrix< MatrixType >::symmPermutation	(	SparseBlockMatrix< MatrixType > *&	dest,
		const int *	pinv,
		bool	onlyUpper = false
	)		const

writes in dest a block permutaton specified by pinv.

Parameters

pinv	array such that new_block[i] = old_block[pinv[i]]

Definition at line 453 of file sparse_block_matrix.hpp.

                              {
  // compute the permuted version of the new row/column layout
  size_t n = _rowBlockIndices.size();
  // computed the block sizes
  std::vector<int> blockSizes(_rowBlockIndices.size());
  blockSizes[0] = _rowBlockIndices[0];
  for (size_t i = 1; i < n; ++i) {
    blockSizes[i] = _rowBlockIndices[i] - _rowBlockIndices[i - 1];
  }
  // permute them
  std::vector<int> pBlockIndices(_rowBlockIndices.size());
  for (size_t i = 0; i < n; ++i) {
    pBlockIndices[pinv[i]] = blockSizes[i];
  }
  for (size_t i = 1; i < n; ++i) {
    pBlockIndices[i] += pBlockIndices[i - 1];
  }
  // allocate C, or check the structure;
  if (!dest) {
    dest =
        new SparseBlockMatrix(pBlockIndices.data(), pBlockIndices.data(), n, n);
  } else {
    if (dest->_rowBlockIndices.size() != n) return false;
    if (dest->_colBlockIndices.size() != n) return false;
    for (size_t i = 0; i < n; ++i) {
      if (dest->_rowBlockIndices[i] != pBlockIndices[i]) return false;
      if (dest->_colBlockIndices[i] != pBlockIndices[i]) return false;
    }
    dest->clear();
  }
  // now ready to permute the columns
  for (size_t i = 0; i < n; ++i) {
    int pi = pinv[i];
    for (typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator
             it = _blockCols[i].begin();
         it != _blockCols[i].end(); ++it) {
      int pj = pinv[it->first];
 
      const typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* s =
          it->second;
 
      typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* b = 0;
      if (!upperTriangle || pj <= pi) {
        b = dest->block(pj, pi, true);
        assert(b->cols() == s->cols());
        assert(b->rows() == s->rows());
        *b = *s;
      } else {
        b = dest->block(pi, pj, true);
        assert(b);
        assert(b->rows() == s->cols());
        assert(b->cols() == s->rows());
        *b = s->transpose();
      }
    }
    //  within each row,
  }
  return true;
}

References g2o::SparseBlockMatrix< MatrixType >::_colBlockIndices, g2o::SparseBlockMatrix< MatrixType >::_rowBlockIndices, g2o::SparseBlockMatrix< MatrixType >::block(), g2o::SparseBlockMatrix< MatrixType >::clear(), g2o::SparseBlockMatrix< MatrixType >::cols(), g2o::SparseBlockMatrix< MatrixType >::rows(), and g2o::SparseBlockMatrix< MatrixType >::transpose().

takePatternFromHash()

template<class MatrixType >

void g2o::SparseBlockMatrix< MatrixType >::takePatternFromHash

(

SparseBlockMatrixHashMap< MatrixType > &

hashMatrix

)

take over the memory and matrix pattern from a hash matrix. The structure of the hash matrix will be cleared.

Definition at line 687 of file sparse_block_matrix.hpp.

                                                      {
  // sort the sparse columns and add them to the map structures by
  // exploiting that we are inserting a sorted structure
  typedef std::pair<int, MatrixType*> SparseColumnPair;
  typedef typename SparseBlockMatrixHashMap<MatrixType>::SparseColumn
      HashSparseColumn;
  for (size_t i = 0; i < hashMatrix.blockCols().size(); ++i) {
    // prepare a temporary vector for sorting
    HashSparseColumn& column = hashMatrix.blockCols()[i];
    if (column.size() == 0) continue;
    std::vector<SparseColumnPair> sparseRowSorted;  // temporary structure
    sparseRowSorted.reserve(column.size());
    for (typename HashSparseColumn::const_iterator it = column.begin();
         it != column.end(); ++it)
      sparseRowSorted.push_back(*it);
    std::sort(sparseRowSorted.begin(), sparseRowSorted.end(),
              CmpPairFirst<int, MatrixType*>());
    // try to free some memory early
    HashSparseColumn aux;
    std::swap(aux, column);
    // now insert sorted vector to the std::map structure
    IntBlockMap& destColumnMap = blockCols()[i];
    destColumnMap.insert(sparseRowSorted[0]);
    for (size_t j = 1; j < sparseRowSorted.size(); ++j) {
      typename SparseBlockMatrix<MatrixType>::IntBlockMap::iterator hint =
          destColumnMap.end();
      --hint;  // cppreference says the element goes after the hint (until
               // C++11)
      destColumnMap.insert(hint, sparseRowSorted[j]);
    }
  }
}

References g2o::SparseBlockMatrixHashMap< MatrixType >::blockCols().

transpose()

template<class MatrixType >

template<class MatrixTransposedType >

bool g2o::SparseBlockMatrix< MatrixType >::transpose

(

SparseBlockMatrix< MatrixTransposedType > &

dest

)

const

transposes a block matrix, The transposed type should match the argument false on failure

Definition at line 141 of file sparse_block_matrix.hpp.

                                                         {
  if (!dest._hasStorage) return false;
  if (_rowBlockIndices.size() != dest._colBlockIndices.size()) return false;
  if (_colBlockIndices.size() != dest._rowBlockIndices.size()) return false;
  for (size_t i = 0; i < _rowBlockIndices.size(); ++i) {
    if (_rowBlockIndices[i] != dest._colBlockIndices[i]) return false;
  }
  for (size_t i = 0; i < _colBlockIndices.size(); ++i) {
    if (_colBlockIndices[i] != dest._rowBlockIndices[i]) return false;
  }
 
  transpose_internal(dest);
  return true;
}

References g2o::SparseBlockMatrix< MatrixType >::_colBlockIndices, g2o::SparseBlockMatrix< MatrixType >::_hasStorage, and g2o::SparseBlockMatrix< MatrixType >::_rowBlockIndices.

Referenced by g2o::LinearSolverDense< MatrixType >::solve(), and g2o::SparseBlockMatrix< MatrixType >::symmPermutation().

transpose_internal()

template<class MatrixType >

template<class MatrixTransposedType >

void g2o::SparseBlockMatrix< MatrixType >::transpose_internal ( SparseBlockMatrix< MatrixTransposedType > &  dest ) const

private

Definition at line 125 of file sparse_block_matrix.hpp.

                                                         {
  for (size_t i = 0; i < _blockCols.size(); ++i) {
    for (typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator
             it = _blockCols[i].begin();
         it != _blockCols[i].end(); ++it) {
      typename SparseBlockMatrix<MatrixType>::SparseMatrixBlock* s = it->second;
      typename SparseBlockMatrix<MatrixTransposedType>::SparseMatrixBlock* d =
          dest.block(i, it->first, true);
      *d = s->transpose();
    }
  }
}

References g2o::SparseBlockMatrix< MatrixType >::block().

transposed()

template<class MatrixType >

template<class MatrixTransposedType >

std::unique_ptr< SparseBlockMatrix< MatrixTransposedType > > g2o::SparseBlockMatrix< MatrixType >::transposed

(

)

const

Definition at line 160 of file sparse_block_matrix.hpp.

                                                {
  auto dest = std::make_unique<SparseBlockMatrix<MatrixTransposedType>>(
      &_colBlockIndices[0], &_rowBlockIndices[0], _colBlockIndices.size(),
      _rowBlockIndices.size());
  transpose_internal(*dest);
  return dest;
}

writeOctave()

template<class MatrixType >

bool g2o::SparseBlockMatrix< MatrixType >::writeOctave	(	const char *	filename,
		bool	upperTriangle = true
	)		const

write the content of this matrix to a stream loadable by Octave

Parameters

upperTriangle

does this matrix store only the upper triangular blocks

Definition at line 600 of file sparse_block_matrix.hpp.

                                                                          {
  std::string name = filename;
  std::string::size_type lastDot = name.find_last_of('.');
  if (lastDot != std::string::npos) name.resize(lastDot);
 
  std::vector<TripletEntry> entries;
  for (size_t i = 0; i < _blockCols.size(); ++i) {
    const int& c = i;
    for (typename SparseBlockMatrix<MatrixType>::IntBlockMap::const_iterator
             it = _blockCols[i].begin();
         it != _blockCols[i].end(); ++it) {
      const int& r = it->first;
      const MatrixType& m = *(it->second);
      for (int cc = 0; cc < m.cols(); ++cc)
        for (int rr = 0; rr < m.rows(); ++rr) {
          int aux_r = rowBaseOfBlock(r) + rr;
          int aux_c = colBaseOfBlock(c) + cc;
          entries.push_back(TripletEntry(aux_r, aux_c, m(rr, cc)));
          if (upperTriangle && r != c) {
            entries.push_back(TripletEntry(aux_c, aux_r, m(rr, cc)));
          }
        }
    }
  }
 
  int nz = entries.size();
  std::sort(entries.begin(), entries.end(), TripletColSort());
 
  std::ofstream fout(filename);
  fout << "# name: " << name << std::endl;
  fout << "# type: sparse matrix" << std::endl;
  fout << "# nnz: " << nz << std::endl;
  fout << "# rows: " << rows() << std::endl;
  fout << "# columns: " << cols() << std::endl;
  fout << std::setprecision(9) << std::fixed << std::endl;
 
  for (std::vector<TripletEntry>::const_iterator it = entries.begin();
       it != entries.end(); ++it) {
    const TripletEntry& entry = *it;
    fout << entry.r + 1 << " " << entry.c + 1 << " " << entry.x << std::endl;
  }
  return fout.good();
}

References g2o::TripletEntry::c, g2o::TripletEntry::r, and g2o::TripletEntry::x.

Referenced by g2o::LinearSolverEigen< MatrixType >::computeCholesky().

Member Data Documentation

_blockCols

template<class MatrixType = MatrixX>

std::vector<IntBlockMap> g2o::SparseBlockMatrix< MatrixType >::_blockCols

protected

array of maps of blocks. The index of the array represent a block column of the matrix and the block column is stored as a map row_block -> matrix_block_ptr.

Definition at line 257 of file sparse_block_matrix.h.

Referenced by g2o::SparseBlockMatrix< g2o::MatrixX >::block(), g2o::SparseBlockMatrix< MatrixType >::blockCols(), g2o::SparseBlockMatrix< MatrixType >::blockCols(), g2o::SparseBlockMatrix< MatrixType >::multiply(), and g2o::SparseBlockMatrix< MatrixType >::slice().

_colBlockIndices

template<class MatrixType = MatrixX>

std::vector<int> g2o::SparseBlockMatrix< MatrixType >::_colBlockIndices

protected

vector of the indices of the blocks along the cols

Definition at line 253 of file sparse_block_matrix.h.

Referenced by g2o::SparseBlockMatrix< MatrixType >::add(), g2o::SparseBlockMatrix< MatrixType >::colBaseOfBlock(), g2o::SparseBlockMatrix< MatrixType >::colBlockIndices(), g2o::SparseBlockMatrix< MatrixType >::colBlockIndices(), g2o::SparseBlockMatrix< MatrixType >::cols(), g2o::SparseBlockMatrix< MatrixType >::colsOfBlock(), g2o::SparseBlockMatrix< MatrixType >::multiply(), g2o::SparseBlockMatrix< MatrixType >::symmPermutation(), and g2o::SparseBlockMatrix< MatrixType >::transpose().

_hasStorage

template<class MatrixType = MatrixX>

bool g2o::SparseBlockMatrix< MatrixType >::_hasStorage

protected

Definition at line 258 of file sparse_block_matrix.h.

Referenced by g2o::SparseBlockMatrix< MatrixType >::add(), g2o::SparseBlockMatrix< MatrixType >::multiply(), g2o::SparseBlockMatrix< MatrixType >::slice(), and g2o::SparseBlockMatrix< MatrixType >::transpose().

_rowBlockIndices

template<class MatrixType = MatrixX>

std::vector<int> g2o::SparseBlockMatrix< MatrixType >::_rowBlockIndices

protected

vector of the indices of the blocks along the rows.

Definition at line 250 of file sparse_block_matrix.h.

Referenced by g2o::SparseBlockMatrix< MatrixType >::add(), g2o::SparseBlockMatrix< MatrixType >::multiply(), g2o::SparseBlockMatrix< MatrixType >::rowBaseOfBlock(), g2o::SparseBlockMatrix< MatrixType >::rowBlockIndices(), g2o::SparseBlockMatrix< MatrixType >::rowBlockIndices(), g2o::SparseBlockMatrix< MatrixType >::rows(), g2o::SparseBlockMatrix< MatrixType >::rowsOfBlock(), g2o::SparseBlockMatrix< g2o::MatrixX >::slice(), g2o::SparseBlockMatrix< g2o::MatrixX >::symmPermutation(), g2o::SparseBlockMatrix< MatrixType >::symmPermutation(), and g2o::SparseBlockMatrix< MatrixType >::transpose().

---

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

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