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. More...

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

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

int	rows () const
	rows of the matrix More...

	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? 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...

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

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::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 211 of file sparse_block_matrix_ccs.h.

Member Typedef Documentation

template<class MatrixType>

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

Definition at line 222 of file sparse_block_matrix_ccs.h.

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 215 of file sparse_block_matrix_ccs.h.

Constructor & Destructor Documentation

template<class MatrixType>

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

inline

Definition at line 224 of file sparse_block_matrix_ccs.h.

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

Member Function Documentation

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 253 of file sparse_block_matrix_ccs.h.

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

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

       {
         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;
       }

template<class MatrixType>

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

inline

the block matrices per block-column

Definition at line 241 of file sparse_block_matrix_ccs.h.

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

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

241 { return _blockCols;}

g2o::SparseBlockMatrixHashMap::_blockCols

std::vector< SparseColumn > _blockCols

the matrices stored in CCS order

Definition: sparse_block_matrix_ccs.h:273

template<class MatrixType>

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

inline

Definition at line 242 of file sparse_block_matrix_ccs.h.

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

242 { return _blockCols;}

g2o::SparseBlockMatrixHashMap::_blockCols

std::vector< SparseColumn > _blockCols

the matrices stored in CCS order

Definition: sparse_block_matrix_ccs.h:273

template<class MatrixType>

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

inline

where does the col at block-col r start?

Definition at line 238 of file sparse_block_matrix_ccs.h.

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

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

g2o::SparseBlockMatrixHashMap::_colBlockIndices

const std::vector< int > & _colBlockIndices

vector of the indices of the blocks along the cols

Definition: sparse_block_matrix_ccs.h:272

template<class MatrixType>

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

inline

indices of the column blocks

Definition at line 248 of file sparse_block_matrix_ccs.h.

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

248 { return _colBlockIndices;}

g2o::SparseBlockMatrixHashMap::_colBlockIndices

const std::vector< int > & _colBlockIndices

vector of the indices of the blocks along the cols

Definition: sparse_block_matrix_ccs.h:272

template<class MatrixType>

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

inline

columns of the matrix

Definition at line 218 of file sparse_block_matrix_ccs.h.

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

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

g2o::SparseBlockMatrixHashMap::_colBlockIndices

const std::vector< int > & _colBlockIndices

vector of the indices of the blocks along the cols

Definition: sparse_block_matrix_ccs.h:272

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 232 of file sparse_block_matrix_ccs.h.

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

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

g2o::SparseBlockMatrixHashMap::_colBlockIndices

const std::vector< int > & _colBlockIndices

vector of the indices of the blocks along the cols

Definition: sparse_block_matrix_ccs.h:272

template<class MatrixType>

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

inline

where does the row at block-row r start?

Definition at line 235 of file sparse_block_matrix_ccs.h.

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

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

g2o::SparseBlockMatrixHashMap::_rowBlockIndices

const std::vector< int > & _rowBlockIndices

vector of the indices of the blocks along the rows.

Definition: sparse_block_matrix_ccs.h:271

template<class MatrixType>

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

inline

indices of the row blocks

Definition at line 245 of file sparse_block_matrix_ccs.h.

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

245 { return _rowBlockIndices;}

g2o::SparseBlockMatrixHashMap::_rowBlockIndices

const std::vector< int > & _rowBlockIndices

vector of the indices of the blocks along the rows.

Definition: sparse_block_matrix_ccs.h:271

template<class MatrixType>

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

inline

rows of the matrix

Definition at line 220 of file sparse_block_matrix_ccs.h.

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

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

g2o::SparseBlockMatrixHashMap::_rowBlockIndices

const std::vector< int > & _rowBlockIndices

vector of the indices of the blocks along the rows.

Definition: sparse_block_matrix_ccs.h:271

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 229 of file sparse_block_matrix_ccs.h.

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

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

g2o::SparseBlockMatrixHashMap::_rowBlockIndices

const std::vector< int > & _rowBlockIndices

vector of the indices of the blocks along the rows.

Definition: sparse_block_matrix_ccs.h:271

Member Data Documentation

template<class MatrixType>

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

protected

the matrices stored in CCS order

Definition at line 273 of file sparse_block_matrix_ccs.h.

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 272 of file sparse_block_matrix_ccs.h.

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 271 of file sparse_block_matrix_ccs.h.

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

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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