g2o::SparseBlockMatrixDiagonal< MatrixType > Class Template Reference

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. More...
typedef std::vector< MatrixType, Eigen::aligned_allocator< MatrixType > >	DiagonalVector

Public Member Functions
int	cols () const
	columns of the matrix More...
int	rows () const
	rows of the matrix More...
	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? More...
int	baseOfBlock (int r) const
	where does the row /col at block-row / block-column r starts? More...
const DiagonalVector &	diagonal () const
	the block matrices per block-column More...
DiagonalVector &	diagonal ()
const std::vector< int > &	blockIndices () const
	indices of the row blocks More...
void	multiply (double *&dest, const double *src) const

Protected Attributes
const std::vector< int > &	_blockIndices
	vector of the indices of the blocks along the diagonal More...
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 47 of file sparse_block_matrix_diagonal.h.

Member Typedef Documentation

template<class MatrixType>

typedef std::vector<MatrixType, Eigen::aligned_allocator<MatrixType> > g2o::SparseBlockMatrixDiagonal< MatrixType >::DiagonalVector

Definition at line 58 of file sparse_block_matrix_diagonal.h.

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 51 of file sparse_block_matrix_diagonal.h.

Constructor & Destructor Documentation

template<class MatrixType>

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

inline

Definition at line 60 of file sparse_block_matrix_diagonal.h.

                                                                    :
        _blockIndices(blockIndices)
      {}

Member Function Documentation

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 68 of file sparse_block_matrix_diagonal.h.

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

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

template<class MatrixType>

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

inline

indices of the row blocks

Definition at line 75 of file sparse_block_matrix_diagonal.h.

{ return _blockIndices;}

template<class MatrixType>

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

inline

columns of the matrix

Definition at line 54 of file sparse_block_matrix_diagonal.h.

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

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

template<class MatrixType>

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

inline

the block matrices per block-column

Definition at line 71 of file sparse_block_matrix_diagonal.h.

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

{ return _diagonal;}

template<class MatrixType>

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

inline

Definition at line 72 of file sparse_block_matrix_diagonal.h.

{ return _diagonal;}

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 65 of file sparse_block_matrix_diagonal.h.

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

template<class MatrixType>

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

inline

Definition at line 77 of file sparse_block_matrix_diagonal.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>(_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);
        }
      }

template<class MatrixType>

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

inline

rows of the matrix

Definition at line 56 of file sparse_block_matrix_diagonal.h.

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

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

Member Data Documentation

template<class MatrixType>

const std::vector<int>& g2o::SparseBlockMatrixDiagonal< MatrixType >::_blockIndices

protected

vector of the indices of the blocks along the diagonal

Definition at line 102 of file sparse_block_matrix_diagonal.h.

Referenced by g2o::SparseBlockMatrixDiagonal< LandmarkMatrixType >::baseOfBlock(), g2o::SparseBlockMatrixDiagonal< LandmarkMatrixType >::blockIndices(), g2o::SparseBlockMatrixDiagonal< LandmarkMatrixType >::cols(), g2o::SparseBlockMatrixDiagonal< LandmarkMatrixType >::dimOfBlock(), and g2o::SparseBlockMatrixDiagonal< LandmarkMatrixType >::rows().

template<class MatrixType>

DiagonalVector g2o::SparseBlockMatrixDiagonal< MatrixType >::_diagonal

protected

Definition at line 103 of file sparse_block_matrix_diagonal.h.

Referenced by g2o::SparseBlockMatrixDiagonal< LandmarkMatrixType >::diagonal(), and g2o::SparseBlockMatrixDiagonal< LandmarkMatrixType >::multiply().

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

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