g2o::LinearSolverDense< MatrixType > Class Template Reference

linear solver using dense cholesky decomposition More...

#include <linear_solver_dense.h>

Inheritance diagram for g2o::LinearSolverDense< MatrixType >:

Collaboration diagram for g2o::LinearSolverDense< MatrixType >:

Public Member Functions
	LinearSolverDense ()
virtual	~LinearSolverDense ()
virtual bool	init ()
bool	solve (const SparseBlockMatrix< MatrixType > &A, double *x, double *b)
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)

Protected Attributes
bool	_reset
MatrixX	_H
Eigen::LDLT< MatrixX >	_cholesky
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::LinearSolverDense< MatrixType >

linear solver using dense cholesky decomposition

Definition at line 46 of file linear_solver_dense.h.

Constructor & Destructor Documentation

LinearSolverDense()

template<typename MatrixType>

g2o::LinearSolverDense< MatrixType >::LinearSolverDense ( )

inline

Definition at line 48 of file linear_solver_dense.h.

References _reset, and g2o::LinearSolver< MatrixType >::LinearSolver().

~LinearSolverDense()

template<typename MatrixType>

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

inlinevirtual

Definition at line 50 of file linear_solver_dense.h.

Member Function Documentation

init()

template<typename MatrixType>

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

inlinevirtual

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

Implements g2o::LinearSolver< MatrixType >.

Definition at line 52 of file linear_solver_dense.h.

References _reset.

solve()

template<typename MatrixType>

bool g2o::LinearSolverDense< 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 57 of file linear_solver_dense.h.

References _cholesky, _H, _reset, g2o::SparseBlockMatrix< MatrixType >::blockCols(), g2o::SparseBlockMatrix< MatrixType >::colBaseOfBlock(), g2o::SparseBlockMatrix< MatrixType >::cols(), g2o::SparseBlockMatrix< MatrixType >::colsOfBlock(), g2o::SparseBlockMatrix< MatrixType >::rowBaseOfBlock(), g2o::SparseBlockMatrix< MatrixType >::rowsOfBlock(), and g2o::SparseBlockMatrix< MatrixType >::transpose().

Member Data Documentation

_cholesky

template<typename MatrixType>

Eigen::LDLT<MatrixX> g2o::LinearSolverDense< MatrixType >::_cholesky

protected

Definition at line 110 of file linear_solver_dense.h.

Referenced by solve().

_H

template<typename MatrixType>

MatrixX g2o::LinearSolverDense< MatrixType >::_H

protected

Definition at line 109 of file linear_solver_dense.h.

Referenced by solve().

_reset

template<typename MatrixType>

bool g2o::LinearSolverDense< MatrixType >::_reset

protected

Definition at line 108 of file linear_solver_dense.h.

Referenced by init(), LinearSolverDense(), and solve().

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

• /build/reproducible-path/g2o-0~20230806/g2o/solvers/dense/linear_solver_dense.h