basic solver for Ax = b More...

#include <linear_solver.h>

Inheritance diagram for g2o::LinearSolver< MatrixType >:

[legend]

Public Member Functions
	LinearSolver ()

virtual	~LinearSolver ()

virtual bool	init ()=0

virtual bool	solve (const SparseBlockMatrix< MatrixType > &A, double x, double b)=0

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

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

virtual bool	writeDebug () const
	write a debug dump of the system matrix if it is not PSD in solve More...

virtual void	setWriteDebug (bool)

Detailed Description

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

basic solver for Ax = b

basic solver for Ax = b which has to reimplemented for different linear algebra libraries. A is assumed to be symmetric (only upper triangular block is stored) and positive-semi-definit.

Definition at line 41 of file linear_solver.h.

Constructor & Destructor Documentation

template<typename MatrixType>

g2o::LinearSolver< MatrixType >::LinearSolver ( )

inline

Definition at line 44 of file linear_solver.h.

44 {};

template<typename MatrixType>

virtual g2o::LinearSolver< MatrixType >::~LinearSolver ( )

inlinevirtual

Definition at line 45 of file linear_solver.h.

45 {}

Member Function Documentation

template<typename MatrixType>

virtual bool g2o::LinearSolver< MatrixType >::init ( )

pure virtual

init for operating on matrices with a different non-zero pattern like before

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

Referenced by g2o::BlockSolver< Traits >::init(), and g2o::LinearSolver< PoseMatrixType >::~LinearSolver().

template<typename MatrixType>

virtual void g2o::LinearSolver< MatrixType >::setWriteDebug ( bool )

inlinevirtual

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

Definition at line 80 of file linear_solver.h.

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

80 {}

template<typename MatrixType>

virtual bool g2o::LinearSolver< MatrixType >::solve	(	const SparseBlockMatrix< MatrixType > &	A,
		double *	x,
		double *	b
	)

pure virtual

Assumes that A is the same matrix for several calls. Among other assumptions, the non-zero pattern does not change! If the matrix changes call init() before. solve system Ax = b, x and b have to allocated beforehand!!

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

Referenced by g2o::BlockSolver< Traits >::solve(), and g2o::LinearSolver< PoseMatrixType >::~LinearSolver().

template<typename MatrixType>

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

inlinevirtual

Inverts the diagonal blocks of A

Returns: false if not defined.

Reimplemented in g2o::LinearSolverCholmod< MatrixType >, and g2o::LinearSolverCSparse< MatrixType >.

Definition at line 64 of file linear_solver.h.

64 { (void)blocks; (void) A; return false; }

template<typename MatrixType>

virtual bool g2o::LinearSolver< MatrixType >::solvePattern	(	SparseBlockMatrix< MatrixXD > &	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 in g2o::LinearSolverCholmod< MatrixType >, and g2o::LinearSolverCSparse< MatrixType >.

Definition at line 71 of file linear_solver.h.

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

                                                                                                                                                             {
       (void) spinv;
       (void) blockIndices;
       (void) A;
       return false;
     }

template<typename MatrixType>

virtual bool g2o::LinearSolver< MatrixType >::writeDebug ( ) const

inlinevirtual

write a debug dump of the system matrix if it is not PSD in solve

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

Definition at line 79 of file linear_solver.h.

79 { return false;}

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

/home/xuezhisd/CLionProjects/g2o/g2o/core/linear_solver.h

Public Member Functions

Detailed Description

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

Constructor & Destructor Documentation

Member Function Documentation

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