g2o::SparseBlockMatrixCCS< MatrixType > Class Template Reference

Sparse matrix which uses blocks. More...

#include <sparse_block_matrix_ccs.h>

Classes
struct	RowBlock
	A block within a column. More...

Public Types
typedef MatrixType	SparseMatrixBlock
	this is the type of the elementary block, it is an Eigen::Matrix. More...
typedef std::vector< RowBlock >	SparseColumn

Public Member Functions
int	cols () const
	columns of the matrix More...
int	rows () const
	rows of the matrix More...
	SparseBlockMatrixCCS (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? More...
int	colsOfBlock (int c) const
	how many cols does the block at block-col c has? More...
int	rowBaseOfBlock (int r) const
	where does the row at block-row r start? More...
int	colBaseOfBlock (int c) const
	where does the col at block-col r start? More...
const std::vector< SparseColumn > &	blockCols () const
	the block matrices per block-column More...
std::vector< SparseColumn > &	blockCols ()
const std::vector< int > &	rowBlockIndices () const
	indices of the row blocks More...
const std::vector< int > &	colBlockIndices () const
	indices of the column blocks More...
void	rightMultiply (double *&dest, const double *src) const
void	sortColumns ()
int	fillCCS (int *Cp, int *Ci, double *Cx, bool upperTriangle=false) const
int	fillCCS (double *Cx, bool upperTriangle=false) const

Protected Attributes
const std::vector< int > &	_rowBlockIndices
	vector of the indices of the blocks along the rows. More...
const std::vector< int > &	_colBlockIndices
	vector of the indices of the blocks along the cols More...
std::vector< SparseColumn >	_blockCols
	the matrices stored in CCS order More...

Detailed Description

template<class MatrixType>
class g2o::SparseBlockMatrixCCS< MatrixType >

Sparse matrix which uses blocks.

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 49 of file sparse_block_matrix_ccs.h.

Member Typedef Documentation

template<class MatrixType>

typedef std::vector<RowBlock> g2o::SparseBlockMatrixCCS< MatrixType >::SparseColumn

Definition at line 71 of file sparse_block_matrix_ccs.h.

template<class MatrixType>

typedef MatrixType g2o::SparseBlockMatrixCCS< MatrixType >::SparseMatrixBlock

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

Definition at line 53 of file sparse_block_matrix_ccs.h.

Constructor & Destructor Documentation

template<class MatrixType>

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

inline

Definition at line 73 of file sparse_block_matrix_ccs.h.

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

Member Function Documentation

template<class MatrixType>

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

inline

the block matrices per block-column

Definition at line 90 of file sparse_block_matrix_ccs.h.

Referenced by g2o::SparseBlockMatrix< MatrixType >::fillSparseBlockMatrixCCS(), g2o::SparseBlockMatrix< MatrixType >::fillSparseBlockMatrixCCSTransposed(), and g2o::BlockSolver< Traits >::solve().

{ return _blockCols;}

template<class MatrixType>

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

inline

Definition at line 91 of file sparse_block_matrix_ccs.h.

{ return _blockCols;}

template<class MatrixType>

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

inline

where does the col at block-col r start?

Definition at line 87 of file sparse_block_matrix_ccs.h.

Referenced by g2o::SparseBlockMatrixCCS< PoseMatrixType >::rightMultiply().

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

template<class MatrixType>

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

inline

indices of the column blocks

Definition at line 97 of file sparse_block_matrix_ccs.h.

{ return _colBlockIndices;}

template<class MatrixType>

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

inline

columns of the matrix

Definition at line 56 of file sparse_block_matrix_ccs.h.

Referenced by g2o::SparseBlockMatrixCCS< PoseMatrixType >::rightMultiply().

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

template<class MatrixType>

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

inline

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

Definition at line 81 of file sparse_block_matrix_ccs.h.

Referenced by g2o::SparseBlockMatrixHashMap< MatrixType >::addBlock(), and g2o::SparseBlockMatrixCCS< PoseMatrixType >::fillCCS().

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

template<class MatrixType>

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

inline

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

Definition at line 139 of file sparse_block_matrix_ccs.h.

      {
        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 SparseColumn::const_iterator it = _blockCols[i].begin(); it!=_blockCols[i].end(); ++it) {
              const SparseMatrixBlock* b=it->block;
              int rstart=it->row ? _rowBlockIndices[it->row-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;
      }

template<class MatrixType>

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

inline

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 172 of file sparse_block_matrix_ccs.h.

      {
        assert(Cx && "Target destination is NULL");
        double* CxStart = Cx;
        int cstart = 0;
        for (size_t i=0; i<_blockCols.size(); ++i){
          int csize = _colBlockIndices[i] - cstart;
          for (int c=0; c<csize; ++c) {
            for (typename SparseColumn::const_iterator it = _blockCols[i].begin(); it!=_blockCols[i].end(); ++it) {
              const SparseMatrixBlock* b = it->block;
              int rstart = it->row ? _rowBlockIndices[it->row-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;

            }
          }
          cstart = _colBlockIndices[i];
        }
        return Cx - CxStart;
      }

template<class MatrixType>

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

inline

Definition at line 99 of file sparse_block_matrix_ccs.h.

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

      {
        int destSize=cols();

        if (! dest){
          dest=new double [ destSize ];
          memset(dest,0, destSize*sizeof(double));
        }

        // map the memory by Eigen
        Eigen::Map<Eigen::VectorXd> destVec(dest, destSize);
        Eigen::Map<const Eigen::VectorXd> 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 SparseColumn::const_iterator it = _blockCols[i].begin(); it!=_blockCols[i].end(); ++it) {
            const SparseMatrixBlock* a = it->block;
            int srcOffset = rowBaseOfBlock(it->row);
            // destVec += *a.transpose() * srcVec (according to the sub-vector parts)
            internal::template atxpy<SparseMatrixBlock>(*a, srcVec, srcOffset, destVec, destOffset);
          }
        }
      }

template<class MatrixType>

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

inline

where does the row at block-row r start?

Definition at line 84 of file sparse_block_matrix_ccs.h.

Referenced by g2o::SparseBlockMatrixCCS< PoseMatrixType >::rightMultiply(), and g2o::BlockSolver< Traits >::solve().

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

template<class MatrixType>

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

inline

indices of the row blocks

Definition at line 94 of file sparse_block_matrix_ccs.h.

{ return _rowBlockIndices;}

template<class MatrixType>

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

inline

rows of the matrix

Definition at line 58 of file sparse_block_matrix_ccs.h.

Referenced by g2o::SparseBlockMatrixCCS< PoseMatrixType >::rightMultiply().

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

template<class MatrixType>

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

inline

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

Definition at line 78 of file sparse_block_matrix_ccs.h.

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

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

template<class MatrixType>

void g2o::SparseBlockMatrixCCS< MatrixType >::sortColumns ( )

inline

sort the blocks in each column

Definition at line 129 of file sparse_block_matrix_ccs.h.

      {
        for (int i=0; i < static_cast<int>(_blockCols.size()); ++i){
          std::sort(_blockCols[i].begin(), _blockCols[i].end());
        }
      }

Member Data Documentation

template<class MatrixType>

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

protected

the matrices stored in CCS order

Definition at line 200 of file sparse_block_matrix_ccs.h.

Referenced by g2o::SparseBlockMatrixHashMap< MatrixType >::addBlock(), g2o::SparseBlockMatrixCCS< PoseMatrixType >::blockCols(), g2o::SparseBlockMatrixHashMap< MatrixType >::blockCols(), g2o::SparseBlockMatrixCCS< PoseMatrixType >::fillCCS(), g2o::SparseBlockMatrixCCS< PoseMatrixType >::rightMultiply(), and g2o::SparseBlockMatrixCCS< PoseMatrixType >::sortColumns().

template<class MatrixType>

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

protected

vector of the indices of the blocks along the cols

Definition at line 199 of file sparse_block_matrix_ccs.h.

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

template<class MatrixType>

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

protected

vector of the indices of the blocks along the rows.

Definition at line 198 of file sparse_block_matrix_ccs.h.

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

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

• /home/xuezhisd/CLionProjects/g2o/g2o/core/sparse_block_matrix_ccs.h