Sparse matrix which uses blocks based on hash structures. More...

#include <sparse_block_matrix_ccs.h>

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

typedef std::unordered_map< int, MatrixType * >	SparseColumn

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

int	rows () const
	rows of the matrix

	SparseBlockMatrixHashMap (const std::vector< int > &rowIndices, const std::vector< int > &colIndices)

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 start?

int	colBaseOfBlock (int c) const
	where does the col at block-col r start?

const std::vector< SparseColumn > &	blockCols () const
	the block matrices per block-column

std::vector< SparseColumn > &	blockCols ()

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

const std::vector< int > &	colBlockIndices () const
	indices of the column blocks

MatrixType *	addBlock (int r, int c, bool zeroBlock=false)

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

const std::vector< int > &	_colBlockIndices
	vector of the indices of the blocks along the cols

std::vector< SparseColumn >	_blockCols
	the matrices stored in CCS order

Detailed Description

template<class MatrixType>
class g2o::SparseBlockMatrixHashMap< MatrixType >

Sparse matrix which uses blocks based on hash structures.

This class is used to construct the pattern of a sparse block matrix

Definition at line 217 of file sparse_block_matrix_ccs.h.

Member Typedef Documentation

◆ SparseColumn

template<class MatrixType >

typedef std::unordered_map<int, MatrixType*> g2o::SparseBlockMatrixHashMap< MatrixType >::SparseColumn

Definition at line 231 of file sparse_block_matrix_ccs.h.

◆ SparseMatrixBlock

template<class MatrixType >

typedef MatrixType g2o::SparseBlockMatrixHashMap< MatrixType >::SparseMatrixBlock

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

Definition at line 220 of file sparse_block_matrix_ccs.h.

Constructor & Destructor Documentation

◆ SparseBlockMatrixHashMap()

template<class MatrixType >

g2o::SparseBlockMatrixHashMap< MatrixType >::SparseBlockMatrixHashMap	(	const std::vector< int > &	rowIndices,
		const std::vector< int > &	colIndices
	)

inline

Definition at line 233 of file sparse_block_matrix_ccs.h.

235 : _rowBlockIndices(rowIndices), _colBlockIndices(colIndices) {}

g2o::SparseBlockMatrixHashMap::_colBlockIndices

const std::vector< int > & _colBlockIndices

vector of the indices of the blocks along the cols

Definition sparse_block_matrix_ccs.h:288

g2o::SparseBlockMatrixHashMap::_rowBlockIndices

const std::vector< int > & _rowBlockIndices

Definition sparse_block_matrix_ccs.h:285

Member Function Documentation

◆ addBlock()

template<class MatrixType >

MatrixType * g2o::SparseBlockMatrixHashMap< MatrixType >::addBlock	(	int	r,
		int	c,
		bool	zeroBlock = `false`
	)

inline

add a block to the pattern, return a pointer to the added block

Definition at line 268 of file sparse_block_matrix_ccs.h.

                                                             {
    assert(c < (int)_blockCols.size() &&
           "accessing column which is not available");
    SparseColumn& sparseColumn = _blockCols[c];
    typename SparseColumn::iterator foundIt = sparseColumn.find(r);
    if (foundIt == sparseColumn.end()) {
      int rb = rowsOfBlock(r);
      int cb = colsOfBlock(c);
      MatrixType* m = new MatrixType(rb, cb);
      if (zeroBlock) m->setZero();
      sparseColumn[r] = m;
      return m;
    }
    return foundIt->second;
  }

References g2o::SparseBlockMatrixHashMap< MatrixType >::_blockCols, g2o::SparseBlockMatrixHashMap< MatrixType >::colsOfBlock(), and g2o::SparseBlockMatrixHashMap< MatrixType >::rowsOfBlock().

Referenced by g2o::BlockSolver< Traits >::buildStructure().

◆ blockCols() [1/2]

template<class MatrixType >

std::vector< SparseColumn > & g2o::SparseBlockMatrixHashMap< MatrixType >::blockCols ( )

inline

Definition at line 257 of file sparse_block_matrix_ccs.h.

257{ return _blockCols; }

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

◆ blockCols() [2/2]

template<class MatrixType >

const std::vector< SparseColumn > & g2o::SparseBlockMatrixHashMap< MatrixType >::blockCols ( ) const

inline

the block matrices per block-column

Definition at line 256 of file sparse_block_matrix_ccs.h.

256{ return _blockCols; }

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

Referenced by g2o::BlockSolver< Traits >::buildStructure(), and g2o::SparseBlockMatrix< MatrixType >::takePatternFromHash().

◆ colBaseOfBlock()

template<class MatrixType >

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

inline

where does the col at block-col r start?

Definition at line 253 of file sparse_block_matrix_ccs.h.

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

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

◆ colBlockIndices()

template<class MatrixType >

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

inline

indices of the column blocks

Definition at line 263 of file sparse_block_matrix_ccs.h.

263{ return _colBlockIndices; }

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

◆ cols()

template<class MatrixType >

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

inline

columns of the matrix

Definition at line 223 of file sparse_block_matrix_ccs.h.

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

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

◆ colsOfBlock()

template<class MatrixType >

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

inline

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

Definition at line 244 of file sparse_block_matrix_ccs.h.

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

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

Referenced by g2o::SparseBlockMatrixHashMap< MatrixType >::addBlock().

◆ rowBaseOfBlock()

template<class MatrixType >

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

inline

where does the row at block-row r start?

Definition at line 250 of file sparse_block_matrix_ccs.h.

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

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

◆ rowBlockIndices()

template<class MatrixType >

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

inline

indices of the row blocks

Definition at line 260 of file sparse_block_matrix_ccs.h.

260{ return _rowBlockIndices; }

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

◆ rows()

template<class MatrixType >

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

inline

rows of the matrix

Definition at line 227 of file sparse_block_matrix_ccs.h.

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

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

◆ rowsOfBlock()

template<class MatrixType >

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

inline

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

Definition at line 238 of file sparse_block_matrix_ccs.h.

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

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

Referenced by g2o::SparseBlockMatrixHashMap< MatrixType >::addBlock().

Member Data Documentation

◆ _blockCols

template<class MatrixType >

std::vector<SparseColumn> g2o::SparseBlockMatrixHashMap< MatrixType >::_blockCols

protected

the matrices stored in CCS order

Definition at line 289 of file sparse_block_matrix_ccs.h.

Referenced by g2o::SparseBlockMatrixHashMap< MatrixType >::addBlock(), g2o::SparseBlockMatrixHashMap< MatrixType >::blockCols(), and g2o::SparseBlockMatrixHashMap< MatrixType >::blockCols().

◆ _colBlockIndices

template<class MatrixType >

const std::vector<int>& g2o::SparseBlockMatrixHashMap< MatrixType >::_colBlockIndices

protected

vector of the indices of the blocks along the cols

Definition at line 288 of file sparse_block_matrix_ccs.h.

Referenced by g2o::SparseBlockMatrixHashMap< MatrixType >::colBaseOfBlock(), g2o::SparseBlockMatrixHashMap< MatrixType >::colBlockIndices(), g2o::SparseBlockMatrixHashMap< MatrixType >::cols(), and g2o::SparseBlockMatrixHashMap< MatrixType >::colsOfBlock().

◆ _rowBlockIndices

template<class MatrixType >

const std::vector<int>& g2o::SparseBlockMatrixHashMap< MatrixType >::_rowBlockIndices

protected

vector of the indices of the blocks along the rows.

Definition at line 285 of file sparse_block_matrix_ccs.h.

Referenced by g2o::SparseBlockMatrixHashMap< MatrixType >::rowBaseOfBlock(), g2o::SparseBlockMatrixHashMap< MatrixType >::rowBlockIndices(), g2o::SparseBlockMatrixHashMap< MatrixType >::rows(), and g2o::SparseBlockMatrixHashMap< MatrixType >::rowsOfBlock().

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

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ SparseColumn

◆ SparseMatrixBlock

Constructor & Destructor Documentation

◆ SparseBlockMatrixHashMap()

Member Function Documentation

◆ addBlock()

◆ blockCols() [1/2]

◆ blockCols() [2/2]

◆ colBaseOfBlock()

◆ colBlockIndices()

◆ cols()

◆ colsOfBlock()

◆ rowBaseOfBlock()

◆ rowBlockIndices()

◆ rows()

◆ rowsOfBlock()

Member Data Documentation

◆ _blockCols

◆ _colBlockIndices

◆ _rowBlockIndices