Sparse matrix which uses blocks on the diagonal. More...

#include <sparse_block_matrix_diagonal.h>

Public Types
typedef MatrixType	SparseMatrixBlock
	this is the type of the elementary block, it is an Eigen::Matrix.

using	DiagonalVector = std::vector< MatrixType >

Public Member Functions
int	cols () const
	columns of the matrix

int	rows () const
	rows of the matrix

	SparseBlockMatrixDiagonal (const std::vector< int > &blockIndices)

int	dimOfBlock (int r) const
	how many rows/cols does the block at block-row / block-column r has?

int	baseOfBlock (int r) const
	where does the row /col at block-row / block-column r starts?

const DiagonalVector &	diagonal () const
	the block matrices per block-column

DiagonalVector &	diagonal ()

const std::vector< int > &	blockIndices () const
	indices of the row blocks

void	multiply (double &dest, const double src) const

Protected Attributes
const std::vector< int > &	_blockIndices

DiagonalVector	_diagonal

Detailed Description

template<class MatrixType>
class g2o::SparseBlockMatrixDiagonal< MatrixType >

Sparse matrix which uses blocks on the diagonal.

This class is used as a const view on a SparseBlockMatrix which allows a faster iteration over the elements of the matrix.

Definition at line 46 of file sparse_block_matrix_diagonal.h.

Member Typedef Documentation

◆ DiagonalVector

template<class MatrixType >

using g2o::SparseBlockMatrixDiagonal< MatrixType >::DiagonalVector = std::vector<MatrixType>

Definition at line 56 of file sparse_block_matrix_diagonal.h.

◆ SparseMatrixBlock

template<class MatrixType >

typedef MatrixType g2o::SparseBlockMatrixDiagonal< MatrixType >::SparseMatrixBlock

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

Definition at line 49 of file sparse_block_matrix_diagonal.h.

Constructor & Destructor Documentation

◆ SparseBlockMatrixDiagonal()

template<class MatrixType >

g2o::SparseBlockMatrixDiagonal< MatrixType >::SparseBlockMatrixDiagonal ( const std::vector< int > & blockIndices )

inline

Definition at line 58 of file sparse_block_matrix_diagonal.h.

59 : _blockIndices(blockIndices) {}

g2o::SparseBlockMatrixDiagonal::_blockIndices

const std::vector< int > & _blockIndices

Definition sparse_block_matrix_diagonal.h:101

g2o::SparseBlockMatrixDiagonal::blockIndices

const std::vector< int > & blockIndices() const

indices of the row blocks

Definition sparse_block_matrix_diagonal.h:74

Member Function Documentation

◆ baseOfBlock()

template<class MatrixType >

int g2o::SparseBlockMatrixDiagonal< MatrixType >::baseOfBlock ( int r ) const

inline

where does the row /col at block-row / block-column r starts?

Definition at line 67 of file sparse_block_matrix_diagonal.h.

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

References g2o::SparseBlockMatrixDiagonal< MatrixType >::_blockIndices.

Referenced by g2o::SparseBlockMatrixDiagonal< MatrixType >::multiply().

◆ blockIndices()

template<class MatrixType >

const std::vector< int > & g2o::SparseBlockMatrixDiagonal< MatrixType >::blockIndices ( ) const

inline

indices of the row blocks

Definition at line 74 of file sparse_block_matrix_diagonal.h.

74{ return _blockIndices; }

References g2o::SparseBlockMatrixDiagonal< MatrixType >::_blockIndices.

◆ cols()

template<class MatrixType >

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

inline

columns of the matrix

Definition at line 52 of file sparse_block_matrix_diagonal.h.

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

References g2o::SparseBlockMatrixDiagonal< MatrixType >::_blockIndices.

Referenced by g2o::SparseBlockMatrixDiagonal< MatrixType >::multiply().

◆ diagonal() [1/2]

template<class MatrixType >

DiagonalVector & g2o::SparseBlockMatrixDiagonal< MatrixType >::diagonal ( )

inline

Definition at line 71 of file sparse_block_matrix_diagonal.h.

71{ return _diagonal; }

g2o::SparseBlockMatrixDiagonal::_diagonal

DiagonalVector _diagonal

Definition sparse_block_matrix_diagonal.h:103

References g2o::SparseBlockMatrixDiagonal< MatrixType >::_diagonal.

◆ diagonal() [2/2]

template<class MatrixType >

const DiagonalVector & g2o::SparseBlockMatrixDiagonal< MatrixType >::diagonal ( ) const

inline

the block matrices per block-column

Definition at line 70 of file sparse_block_matrix_diagonal.h.

70{ return _diagonal; }

References g2o::SparseBlockMatrixDiagonal< MatrixType >::_diagonal.

◆ dimOfBlock()

template<class MatrixType >

int g2o::SparseBlockMatrixDiagonal< MatrixType >::dimOfBlock ( int r ) const

inline

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

Definition at line 62 of file sparse_block_matrix_diagonal.h.

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

References g2o::SparseBlockMatrixDiagonal< MatrixType >::_blockIndices.

◆ multiply()

template<class MatrixType >

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

inline

Definition at line 76 of file sparse_block_matrix_diagonal.h.

                                                        {
    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>(_diagonal.size()); ++i) {
      int destOffset = baseOfBlock(i);
      int srcOffset = destOffset;
      const SparseMatrixBlock& A = _diagonal[i];
      // destVec += *A.transpose() * srcVec (according to the sub-vector parts)
      internal::template axpy<SparseMatrixBlock>(A, srcVec, srcOffset, destVec,
                                                 destOffset);
    }
  }