basic solver for Ax = b which has to reimplemented for different linear algebra libraries More...

#include <linear_solver_cholmod.h>

Inheritance diagram for g2o::LinearSolverCholmod< MatrixType >:

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Collaboration diagram for g2o::LinearSolverCholmod< MatrixType >:

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Public Member Functions
	LinearSolverCholmod ()
	LinearSolverCholmod (LinearSolverCholmod< MatrixType > const &)=delete
LinearSolverCholmod &	operator= (LinearSolverCholmod< MatrixType > const &)=delete
virtual	~LinearSolverCholmod ()
virtual bool	init ()
bool	solve (const SparseBlockMatrix< MatrixType > &A, double x, double b)
virtual bool	saveMatrix (const std::string &fileName)
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	computeSymbolicDecomposition (const SparseBlockMatrix< MatrixType > &A)
void	fillCholmodExt (const SparseBlockMatrix< MatrixType > &A, bool onlyValues)
bool	computeCholmodFactor (const SparseBlockMatrix< MatrixType > &A, double &t)
	compute the cholmodFactor for the given matrix A
bool	solveBlocks_impl (const SparseBlockMatrix< MatrixType > &A, std::function< void(MarginalCovarianceCholesky &)> compute)
void	freeCholdmodFactor ()
Protected Member Functions inherited from g2o::LinearSolverCCS< MatrixType >
void	initMatrixStructure (const SparseBlockMatrix< MatrixType > &A)

Protected Attributes
cholmod::Cholmod	_cholmod
MatrixStructure	_matrixStructure
VectorXI	_scalarPermutation
VectorXI	_blockPermutation
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::LinearSolverCholmod< MatrixType >

basic solver for Ax = b which has to reimplemented for different linear algebra libraries

Definition at line 47 of file linear_solver_cholmod.h.

Constructor & Destructor Documentation

◆ LinearSolverCholmod() [1/2]

template<typename MatrixType>

g2o::LinearSolverCholmod< MatrixType >::LinearSolverCholmod ( )

inline

Definition at line 49 of file linear_solver_cholmod.h.

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

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

◆ LinearSolverCholmod() [2/2]

template<typename MatrixType>

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

delete

References LinearSolverCholmod().

◆ ~LinearSolverCholmod()

template<typename MatrixType>

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

inlinevirtual

Definition at line 55 of file linear_solver_cholmod.h.

References freeCholdmodFactor().

Member Function Documentation

◆ computeCholmodFactor()

template<typename MatrixType>

bool g2o::LinearSolverCholmod< MatrixType >::computeCholmodFactor	(	const SparseBlockMatrix< MatrixType > &	A,
		double &	t )

inlineprotected

compute the cholmodFactor for the given matrix A

Definition at line 164 of file linear_solver_cholmod.h.

References _cholmod, computeSymbolicDecomposition(), fillCholmodExt(), G2O_DEBUG, G2O_ERROR, g2o::get_monotonic_time(), saveMatrix(), and g2o::LinearSolver< MatrixType >::writeDebug().

Referenced by solve(), and solveBlocks_impl().

◆ computeSymbolicDecomposition()

template<typename MatrixType>

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

inlineprotected

Definition at line 91 of file linear_solver_cholmod.h.

References _blockPermutation, _cholmod, _matrixStructure, _scalarPermutation, g2o::cholmod::Cholmod::analyze(), g2o::LinearSolverCCS< MatrixType >::blockOrdering(), g2o::LinearSolver< MatrixType >::blockToScalarPermutation(), g2o::SparseBlockMatrix< MatrixType >::fillBlockStructure(), g2o::get_monotonic_time(), g2o::G2OBatchStatistics::globalStats(), and g2o::G2OBatchStatistics::timeSymbolicDecomposition.

Referenced by computeCholmodFactor().

◆ fillCholmodExt()

template<typename MatrixType>

void g2o::LinearSolverCholmod< MatrixType >::fillCholmodExt	(	const SparseBlockMatrix< MatrixType > &	A,
		bool	onlyValues )

inlineprotected

Definition at line 127 of file linear_solver_cholmod.h.

References g2o::LinearSolverCCS< MatrixType >::_ccsMatrix, _cholmod, g2o::SparseBlockMatrix< MatrixType >::cols(), g2o::cholmod::Cholmod::SparseView::columnsAllocated, g2o::cholmod::Cholmod::SparseView::i, g2o::LinearSolverCCS< MatrixType >::initMatrixStructure(), g2o::cholmod::Cholmod::SparseView::ncol, g2o::SparseBlockMatrix< MatrixType >::nonZeros(), g2o::cholmod::Cholmod::SparseView::nrow, g2o::cholmod::Cholmod::SparseView::nzmax, g2o::cholmod::Cholmod::SparseView::p, g2o::SparseBlockMatrix< MatrixType >::rows(), and g2o::cholmod::Cholmod::SparseView::x.

Referenced by computeCholmodFactor().

◆ freeCholdmodFactor()

template<typename MatrixType>

void g2o::LinearSolverCholmod< MatrixType >::freeCholdmodFactor ( )

inlineprotected

Definition at line 222 of file linear_solver_cholmod.h.

References _cholmod.

Referenced by init(), and ~LinearSolverCholmod().

◆ init()

template<typename MatrixType>

virtual bool g2o::LinearSolverCholmod< 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_cholmod.h.

References freeCholdmodFactor().

◆ operator=()

template<typename MatrixType>

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

delete

References LinearSolverCholmod().

◆ saveMatrix()

template<typename MatrixType>

virtual bool g2o::LinearSolverCholmod< MatrixType >::saveMatrix ( const std::string & fileName )

inlinevirtual

Definition at line 78 of file linear_solver_cholmod.h.

References _cholmod, g2o::cholmod::Cholmod::SparseView::i, g2o::cholmod::Cholmod::SparseView::ncol, g2o::cholmod::Cholmod::SparseView::nrow, g2o::cholmod::Cholmod::SparseView::p, g2o::writeCCSMatrix(), and g2o::cholmod::Cholmod::SparseView::x.

Referenced by computeCholmodFactor().

◆ solve()

template<typename MatrixType>

bool g2o::LinearSolverCholmod< 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_cholmod.h.

References _cholmod, g2o::G2OBatchStatistics::choleskyNNZ, computeCholmodFactor(), g2o::get_monotonic_time(), g2o::G2OBatchStatistics::globalStats(), and g2o::G2OBatchStatistics::timeNumericDecomposition.

◆ solveBlocks_impl()

template<typename MatrixType>

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

inlineprotectedvirtual

Implements g2o::LinearSolverCCS< MatrixType >.

Definition at line 190 of file linear_solver_cholmod.h.

References _cholmod, g2o::G2OBatchStatistics::choleskyNNZ, computeCholmodFactor(), g2o::G2OBatchStatistics::globalStats(), g2o::cholmod::Cholmod::FactorView::i, g2o::cholmod::Cholmod::SparseView::ncol, g2o::cholmod::Cholmod::FactorView::p, g2o::cholmod::Cholmod::FactorView::perm, g2o::MarginalCovarianceCholesky::setCholeskyFactor(), and g2o::cholmod::Cholmod::FactorView::x.

Member Data Documentation

◆ _blockPermutation

template<typename MatrixType>

VectorXI g2o::LinearSolverCholmod< MatrixType >::_blockPermutation

protected

Definition at line 89 of file linear_solver_cholmod.h.

Referenced by computeSymbolicDecomposition().

◆ _cholmod

template<typename MatrixType>

cholmod::Cholmod g2o::LinearSolverCholmod< MatrixType >::_cholmod

protected

Definition at line 87 of file linear_solver_cholmod.h.

Referenced by computeCholmodFactor(), computeSymbolicDecomposition(), fillCholmodExt(), freeCholdmodFactor(), saveMatrix(), solve(), and solveBlocks_impl().

◆ _matrixStructure

template<typename MatrixType>

MatrixStructure g2o::LinearSolverCholmod< MatrixType >::_matrixStructure

protected

Definition at line 88 of file linear_solver_cholmod.h.

Referenced by computeSymbolicDecomposition().

◆ _scalarPermutation

template<typename MatrixType>

VectorXI g2o::LinearSolverCholmod< MatrixType >::_scalarPermutation

protected

Definition at line 89 of file linear_solver_cholmod.h.

Referenced by computeSymbolicDecomposition().

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

/build/reproducible-path/g2o-0~20230806/g2o/solvers/cholmod/linear_solver_cholmod.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LinearSolverCholmod() [1/2]

◆ LinearSolverCholmod() [2/2]

◆ ~LinearSolverCholmod()

Member Function Documentation

◆ computeCholmodFactor()

◆ computeSymbolicDecomposition()

◆ fillCholmodExt()

◆ freeCholdmodFactor()

◆ init()

◆ operator=()

◆ saveMatrix()

◆ solve()

◆ solveBlocks_impl()

Member Data Documentation

◆ _blockPermutation

◆ _cholmod

◆ _matrixStructure

◆ _scalarPermutation