linear solver which uses CSparse More...

#include <linear_solver_csparse.h>

Inheritance diagram for g2o::LinearSolverCSparse< MatrixType >:

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Collaboration diagram for g2o::LinearSolverCSparse< MatrixType >:

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Public Member Functions
	LinearSolverCSparse ()
	LinearSolverCSparse (LinearSolverCSparse< MatrixType > const &)=delete
LinearSolverCSparse &	operator= (LinearSolverCSparse< MatrixType > const &)=delete
virtual	~LinearSolverCSparse ()=default
virtual bool	init ()
bool	solve (const SparseBlockMatrix< MatrixType > &A, double x, double b)
Public Member Functions inherited from g2o::LinearSolverCCS< MatrixType >
	LinearSolverCCS ()
	~LinearSolverCCS ()
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	blockOrdering () const
	do the AMD ordering on the blocks or on the scalar matrix
void	setBlockOrdering (bool blockOrdering)
Public Member Functions inherited from g2o::LinearSolver< MatrixType >
	LinearSolver ()
virtual	~LinearSolver ()
bool	writeDebug () const
	write a debug dump of the system matrix if it is not PSD in solve
void	setWriteDebug (bool b)

Protected Member Functions
void	prepareSolve (const SparseBlockMatrix< MatrixType > &A)
void	computeSymbolicDecomposition (const SparseBlockMatrix< MatrixType > &A)
void	fillCSparse (const SparseBlockMatrix< MatrixType > &A, bool onlyValues)
bool	solveBlocks_impl (const SparseBlockMatrix< MatrixType > &A, std::function< void(MarginalCovarianceCholesky &)> compute)
Protected Member Functions inherited from g2o::LinearSolverCCS< MatrixType >
void	initMatrixStructure (const SparseBlockMatrix< MatrixType > &A)

Protected Attributes
csparse::CSparse	csparse
MatrixStructure	_matrixStructure
Protected Attributes inherited from g2o::LinearSolverCCS< MatrixType >
SparseBlockMatrixCCS< MatrixType > *	_ccsMatrix
bool	_blockOrdering
Protected Attributes inherited from g2o::LinearSolver< MatrixType >
bool	_writeDebug

Additional Inherited Members
Static Public Member Functions inherited from g2o::LinearSolver< MatrixType >
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)

Detailed Description

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

linear solver which uses CSparse

Definition at line 47 of file linear_solver_csparse.h.

Constructor & Destructor Documentation

◆ LinearSolverCSparse() [1/2]

template<typename MatrixType>

g2o::LinearSolverCSparse< MatrixType >::LinearSolverCSparse ( )

inline

Definition at line 49 of file linear_solver_csparse.h.

References g2o::LinearSolverCCS< MatrixType >::LinearSolverCCS().

Referenced by LinearSolverCSparse(), and operator=().

◆ LinearSolverCSparse() [2/2]

template<typename MatrixType>

g2o::LinearSolverCSparse< MatrixType >::LinearSolverCSparse ( LinearSolverCSparse< MatrixType > const & )

delete

References LinearSolverCSparse().

◆ ~LinearSolverCSparse()

template<typename MatrixType>

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

virtualdefault

Member Function Documentation

◆ computeSymbolicDecomposition()

template<typename MatrixType>

void g2o::LinearSolverCSparse< MatrixType >::computeSymbolicDecomposition ( const SparseBlockMatrix< MatrixType > & A )

inlineprotected

Definition at line 98 of file linear_solver_csparse.h.

References _matrixStructure, g2o::csparse::CSparse::analyze(), g2o::LinearSolverCCS< MatrixType >::blockOrdering(), g2o::LinearSolver< MatrixType >::blockToScalarPermutation(), csparse, g2o::SparseBlockMatrix< MatrixType >::fillBlockStructure(), g2o::get_monotonic_time(), g2o::G2OBatchStatistics::globalStats(), and g2o::G2OBatchStatistics::timeSymbolicDecomposition.

Referenced by prepareSolve().

◆ fillCSparse()

template<typename MatrixType>

void g2o::LinearSolverCSparse< MatrixType >::fillCSparse	(	const SparseBlockMatrix< MatrixType > &	A,
		bool	onlyValues )

inlineprotected

Definition at line 129 of file linear_solver_csparse.h.

References g2o::LinearSolverCCS< MatrixType >::_ccsMatrix, g2o::SparseBlockMatrix< MatrixType >::cols(), g2o::csparse::CSparse::SparseView::columnsAllocated, csparse, g2o::csparse::CSparse::SparseView::i, g2o::LinearSolverCCS< MatrixType >::initMatrixStructure(), g2o::csparse::CSparse::SparseView::m, g2o::csparse::CSparse::SparseView::n, g2o::SparseBlockMatrix< MatrixType >::nonZeros(), g2o::csparse::CSparse::SparseView::nzmax, g2o::csparse::CSparse::SparseView::p, g2o::SparseBlockMatrix< MatrixType >::rows(), and g2o::csparse::CSparse::SparseView::x.

Referenced by prepareSolve().

◆ init()

template<typename MatrixType>

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

inlinevirtual

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

Implements g2o::LinearSolver< MatrixType >.

Definition at line 57 of file linear_solver_csparse.h.

References csparse.

◆ operator=()

template<typename MatrixType>

LinearSolverCSparse & g2o::LinearSolverCSparse< MatrixType >::operator= ( LinearSolverCSparse< MatrixType > const & )

delete

References LinearSolverCSparse().

◆ prepareSolve()

template<typename MatrixType>

void g2o::LinearSolverCSparse< MatrixType >::prepareSolve ( const SparseBlockMatrix< MatrixType > & A )

inlineprotected

Definition at line 88 of file linear_solver_csparse.h.

References computeSymbolicDecomposition(), csparse, and fillCSparse().

Referenced by solve(), and solveBlocks_impl().

◆ solve()

template<typename MatrixType>

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

inlinevirtual

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!!

Implements g2o::LinearSolver< MatrixType >.

Definition at line 62 of file linear_solver_csparse.h.

References g2o::G2OBatchStatistics::choleskyNNZ, csparse, G2O_DEBUG, G2O_ERROR, g2o::get_monotonic_time(), g2o::G2OBatchStatistics::globalStats(), prepareSolve(), g2o::G2OBatchStatistics::timeNumericDecomposition, and g2o::LinearSolver< MatrixType >::writeDebug().

◆ solveBlocks_impl()

template<typename MatrixType>

bool g2o::LinearSolverCSparse< MatrixType >::solveBlocks_impl	(	const SparseBlockMatrix< MatrixType > &	A,
		std::function< void(MarginalCovarianceCholesky &)>	compute )

inlineprotectedvirtual

Implementation of the general parts for computing the inverse blocks of the linear system matrix. Here we call a function to do the underlying computation.

Implements g2o::LinearSolverCCS< MatrixType >.

Definition at line 172 of file linear_solver_csparse.h.

References g2o::G2OBatchStatistics::choleskyNNZ, csparse, G2O_WARN, g2o::G2OBatchStatistics::globalStats(), g2o::csparse::CSparse::FactorView::i, g2o::csparse::CSparse::FactorView::n, g2o::csparse::CSparse::FactorView::p, g2o::csparse::CSparse::FactorView::pinv, prepareSolve(), g2o::MarginalCovarianceCholesky::setCholeskyFactor(), and g2o::csparse::CSparse::FactorView::x.