g2o::LinearSolver< MatrixType > Class Template Reference

basic solver for Ax = b More...

#include <linear_solver.h>

Inheritance diagram for g2o::LinearSolver< MatrixType >:

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< MatrixX > &spinv, const std::vector< std::pair< int, int > > &blockIndices, const SparseBlockMatrix< MatrixType > &A)
bool	writeDebug () const
	write a debug dump of the system matrix if it is not PSD in solve
void	setWriteDebug (bool b)

Static Public Member Functions
static void	allocateBlocks (const SparseBlockMatrix< MatrixType > &A, double **&blocks)
	allocate block memory structure
static void	deallocateBlocks (const SparseBlockMatrix< MatrixType > &A, double **&blocks)
	de-allocate the block structure
template<typename BlockDerived, typename ScalarDerived>
static void	blockToScalarPermutation (const SparseBlockMatrix< MatrixType > &A, const Eigen::MatrixBase< BlockDerived > &p, const Eigen::MatrixBase< ScalarDerived > &scalar)

Protected Attributes
bool	_writeDebug

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-definite.

Definition at line 47 of file linear_solver.h.

Constructor & Destructor Documentation

LinearSolver()

template<typename MatrixType>

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

inline

Definition at line 49 of file linear_solver.h.

Referenced by g2o::LinearSolverCCS< MatrixType >::LinearSolverCCS(), g2o::LinearSolverCholmodOnline< MatrixType >::LinearSolverCholmodOnline(), g2o::LinearSolverDense< MatrixType >::LinearSolverDense(), and g2o::LinearSolverPCG< MatrixType >::LinearSolverPCG().

~LinearSolver()

template<typename MatrixType>

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

inlinevirtual

Definition at line 50 of file linear_solver.h.

Member Function Documentation

allocateBlocks()

template<typename MatrixType>

void g2o::LinearSolver< MatrixType >::allocateBlocks ( const SparseBlockMatrix< MatrixType > & A, double **& blocks )

inlinestatic

allocate block memory structure

Definition at line 97 of file linear_solver.h.

Referenced by g2o::LinearSolverCCS< MatrixType >::solveBlocks().

blockToScalarPermutation()

template<typename MatrixType>

template<typename BlockDerived, typename ScalarDerived>

void g2o::LinearSolver< MatrixType >::blockToScalarPermutation ( const SparseBlockMatrix< MatrixType > & A, const Eigen::MatrixBase< BlockDerived > & p, const Eigen::MatrixBase< ScalarDerived > & scalar )

inlinestatic

Convert a block permutation matrix to a scalar permutation

Definition at line 122 of file linear_solver.h.

Referenced by g2o::LinearSolverCholmod< MatrixType >::computeSymbolicDecomposition(), g2o::LinearSolverCSparse< MatrixType >::computeSymbolicDecomposition(), and g2o::LinearSolverEigen< MatrixType >::computeSymbolicDecomposition().

deallocateBlocks()

template<typename MatrixType>

void g2o::LinearSolver< MatrixType >::deallocateBlocks ( const SparseBlockMatrix< MatrixType > & A, double **& blocks )

inlinestatic

de-allocate the block structure

Definition at line 109 of file linear_solver.h.

init()

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

setWriteDebug()

template<typename MatrixType>

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

inline

Definition at line 94 of file linear_solver.h.

solve()

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

solveBlocks()

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::LinearSolverCCS< MatrixType >.

Definition at line 71 of file linear_solver.h.

solvePattern()

template<typename MatrixType>

virtual bool g2o::LinearSolver< MatrixType >::solvePattern ( SparseBlockMatrix< MatrixX > & 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::LinearSolverCCS< MatrixType >.

Definition at line 82 of file linear_solver.h.

writeDebug()

template<typename MatrixType>

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

inline

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

Definition at line 93 of file linear_solver.h.

Referenced by g2o::LinearSolverEigen< MatrixType >::computeCholesky(), g2o::LinearSolverCholmod< MatrixType >::computeCholmodFactor(), and g2o::LinearSolverCSparse< MatrixType >::solve().

Member Data Documentation

_writeDebug

template<typename MatrixType>

bool g2o::LinearSolver< MatrixType >::_writeDebug

protected

Definition at line 143 of file linear_solver.h.

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

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