linear solver which allows to update the cholesky factor More...

#include <linear_solver_cholmod_online.h>

Inheritance diagram for g2o::LinearSolverCholmodOnline< MatrixType >:

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Collaboration diagram for g2o::LinearSolverCholmodOnline< MatrixType >:

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Public Member Functions
	LinearSolverCholmodOnline ()
virtual	~LinearSolverCholmodOnline ()
virtual bool	init ()
bool	solve (const SparseBlockMatrix< MatrixType > &A, double x, double b)
bool	blockOrdering () const
cholmod_factor *	L () const
size_t	nonZerosInL () const
int	choleskyUpdate (cholmod_sparse *update)
bool	solve (double x, double b)
void	computeSymbolicDecomposition (const SparseBlockMatrix< MatrixType > &A)
void	fillCholmodExt (const SparseBlockMatrix< MatrixType > &A, bool onlyValues)
Public Member Functions inherited from g2o::LinearSolver< MatrixType >
	LinearSolver ()
virtual	~LinearSolver ()
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)
Public Member Functions inherited from g2o::LinearSolverCholmodOnlineInterface
	LinearSolverCholmodOnlineInterface ()

Protected Attributes
cholmod_common	_cholmodCommon
cholmod::CholmodExt *	_cholmodSparse
cholmod_factor *	_cholmodFactor
bool	_blockOrdering
MatrixStructure	_matrixStructure
Eigen::VectorXi	_scalarPermutation
Eigen::VectorXi	_blockPermutation
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)
Public Attributes inherited from g2o::LinearSolverCholmodOnlineInterface
Eigen::VectorXi *	cmember
int	batchEveryN

Detailed Description

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

linear solver which allows to update the cholesky factor

Definition at line 51 of file linear_solver_cholmod_online.h.

Constructor & Destructor Documentation

◆ LinearSolverCholmodOnline()

template<typename MatrixType>

g2o::LinearSolverCholmodOnline< MatrixType >::LinearSolverCholmodOnline ( )

inline

Definition at line 54 of file linear_solver_cholmod_online.h.

References _cholmodCommon, _cholmodFactor, _cholmodSparse, g2o::LinearSolverCholmodOnlineInterface::batchEveryN, and g2o::LinearSolver< MatrixType >::LinearSolver().

◆ ~LinearSolverCholmodOnline()

template<typename MatrixType>

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

inlinevirtual

Definition at line 69 of file linear_solver_cholmod_online.h.

References _cholmodCommon, _cholmodFactor, and _cholmodSparse.

Member Function Documentation

◆ blockOrdering()

template<typename MatrixType>

bool g2o::LinearSolverCholmodOnline< MatrixType >::blockOrdering ( ) const

inline

Definition at line 124 of file linear_solver_cholmod_online.h.

◆ choleskyUpdate()

template<typename MatrixType>

int g2o::LinearSolverCholmodOnline< MatrixType >::choleskyUpdate ( cholmod_sparse * update )

inlinevirtual

Implements g2o::LinearSolverCholmodOnlineInterface.

Definition at line 139 of file linear_solver_cholmod_online.h.

References _cholmodCommon, _cholmodFactor, _cholmodSparse, and g2o::writeCCSMatrix().

◆ computeSymbolicDecomposition()

template<typename MatrixType>

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

inline

Definition at line 181 of file linear_solver_cholmod_online.h.

References _blockPermutation, _cholmodCommon, _cholmodFactor, _cholmodSparse, _matrixStructure, _scalarPermutation, g2o::LinearSolverCholmodOnlineInterface::cmember, g2o::SparseBlockMatrix< MatrixType >::colBaseOfBlock(), g2o::SparseBlockMatrix< MatrixType >::colsOfBlock(), g2o::SparseBlockMatrix< MatrixType >::fillBlockStructure(), g2o::get_monotonic_time(), g2o::G2OBatchStatistics::globalStats(), and g2o::G2OBatchStatistics::timeSymbolicDecomposition.

Referenced by solve().

◆ fillCholmodExt()

template<typename MatrixType>

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

inline

Definition at line 228 of file linear_solver_cholmod_online.h.

References _cholmodSparse, g2o::LinearSolverCholmodOnlineInterface::batchEveryN, g2o::SparseBlockMatrix< MatrixType >::cols(), g2o::SparseBlockMatrix< MatrixType >::fillCCS(), g2o::SparseBlockMatrix< MatrixType >::nonZeros(), and g2o::SparseBlockMatrix< MatrixType >::rows().

Referenced by solve().

◆ init()

template<typename MatrixType>

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

inlinevirtual

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

Implements g2o::LinearSolver< MatrixType >.

Definition at line 78 of file linear_solver_cholmod_online.h.

◆ L()

template<typename MatrixType>

cholmod_factor * g2o::LinearSolverCholmodOnline< MatrixType >::L ( ) const

inlinevirtual

Implements g2o::LinearSolverCholmodOnlineInterface.

Definition at line 126 of file linear_solver_cholmod_online.h.

References _cholmodFactor.

◆ nonZerosInL()

template<typename MatrixType>

size_t g2o::LinearSolverCholmodOnline< MatrixType >::nonZerosInL ( ) const

inlinevirtual

return the number of non-zeros in the current factorization

Implements g2o::LinearSolverCholmodOnlineInterface.

Definition at line 131 of file linear_solver_cholmod_online.h.

References _cholmodFactor.

◆ solve() [1/2]

template<typename MatrixType>

bool g2o::LinearSolverCholmodOnline< 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 80 of file linear_solver_cholmod_online.h.

References _cholmodCommon, _cholmodFactor, _cholmodSparse, g2o::G2OBatchStatistics::choleskyNNZ, computeSymbolicDecomposition(), fillCholmodExt(), g2o::get_monotonic_time(), g2o::G2OBatchStatistics::globalStats(), g2o::G2OBatchStatistics::timeNumericDecomposition, and g2o::writeCCSMatrix().