Sparse matrix which uses blocks. More...

#include <sparse_block_matrix_ccs.h>

Classes
struct	RowBlock
	A block within a column. More...

Public Types
typedef MatrixType	SparseMatrixBlock
	this is the type of the elementary block, it is an Eigen::Matrix.
typedef std::vector< RowBlock >	SparseColumn

Public Member Functions
int	cols () const
	columns of the matrix
int	rows () const
	rows of the matrix
	SparseBlockMatrixCCS (const std::vector< int > &rowIndices, const std::vector< int > &colIndices)
int	rowsOfBlock (int r) const
	how many rows does the block at block-row r has?
int	colsOfBlock (int c) const
	how many cols does the block at block-col c has?
int	rowBaseOfBlock (int r) const
	where does the row at block-row r start?
int	colBaseOfBlock (int c) const
	where does the col at block-col r start?
const std::vector< SparseColumn > &	blockCols () const
	the block matrices per block-column
std::vector< SparseColumn > &	blockCols ()
const std::vector< int > &	rowBlockIndices () const
	indices of the row blocks
const std::vector< int > &	colBlockIndices () const
	indices of the column blocks
void	rightMultiply (double &dest, const double src) const
void	sortColumns ()
int	fillCCS (int Cp, int Ci, double *Cx, bool upperTriangle=false) const
int	fillCCS (double *Cx, bool upperTriangle=false) const

Protected Attributes
const std::vector< int > &	_rowBlockIndices
const std::vector< int > &	_colBlockIndices
	vector of the indices of the blocks along the cols
std::vector< SparseColumn >	_blockCols
	the matrices stored in CCS order

Detailed Description

template<class MatrixType>
class g2o::SparseBlockMatrixCCS< MatrixType >

Sparse matrix which uses blocks.

This class is used as a const view on a SparseBlockMatrix which allows a faster iteration over the elements of the matrix.

Definition at line 48 of file sparse_block_matrix_ccs.h.

Member Typedef Documentation

◆ SparseColumn

template<class MatrixType>

typedef std::vector<RowBlock> g2o::SparseBlockMatrixCCS< MatrixType >::SparseColumn

Definition at line 72 of file sparse_block_matrix_ccs.h.

◆ SparseMatrixBlock

template<class MatrixType>

typedef MatrixType g2o::SparseBlockMatrixCCS< MatrixType >::SparseMatrixBlock

this is the type of the elementary block, it is an Eigen::Matrix.

Definition at line 51 of file sparse_block_matrix_ccs.h.

Constructor & Destructor Documentation

◆ SparseBlockMatrixCCS()

template<class MatrixType>

g2o::SparseBlockMatrixCCS< MatrixType >::SparseBlockMatrixCCS	(	const std::vector< int > &	rowIndices,
		const std::vector< int > &	colIndices )

inline

Definition at line 74 of file sparse_block_matrix_ccs.h.

76 : _rowBlockIndices(rowIndices), _colBlockIndices(colIndices) {}

g2o::SparseBlockMatrixCCS

Sparse matrix which uses blocks.

Definition sparse_block_matrix_ccs.h:48

g2o::SparseBlockMatrixCCS::_colBlockIndices

const std::vector< int > & _colBlockIndices

vector of the indices of the blocks along the cols

Definition sparse_block_matrix_ccs.h:207

g2o::SparseBlockMatrixCCS::_rowBlockIndices

const std::vector< int > & _rowBlockIndices

Definition sparse_block_matrix_ccs.h:204

References _colBlockIndices, and _rowBlockIndices.

Member Function Documentation

◆ blockCols() [1/2]

template<class MatrixType>

std::vector< SparseColumn > & g2o::SparseBlockMatrixCCS< MatrixType >::blockCols ( )

inline

Definition at line 98 of file sparse_block_matrix_ccs.h.

98{ return _blockCols; }

g2o::SparseBlockMatrixCCS::_blockCols

std::vector< SparseColumn > _blockCols

the matrices stored in CCS order

Definition sparse_block_matrix_ccs.h:208

References _blockCols.

◆ blockCols() [2/2]

template<class MatrixType>

const std::vector< SparseColumn > & g2o::SparseBlockMatrixCCS< MatrixType >::blockCols ( ) const

inline

the block matrices per block-column

Definition at line 97 of file sparse_block_matrix_ccs.h.

97{ return _blockCols; }

References _blockCols.

Referenced by g2o::SparseBlockMatrix< MatrixType >::fillSparseBlockMatrixCCS(), and g2o::SparseBlockMatrix< MatrixType >::fillSparseBlockMatrixCCSTransposed().

◆ colBaseOfBlock()

template<class MatrixType>

int g2o::SparseBlockMatrixCCS< MatrixType >::colBaseOfBlock ( int c ) const

inline

where does the col at block-col r start?

Definition at line 94 of file sparse_block_matrix_ccs.h.

94{ return c ? _colBlockIndices[c - 1] : 0; }

References _colBlockIndices.

Referenced by rightMultiply().

◆ colBlockIndices()

template<class MatrixType>

const std::vector< int > & g2o::SparseBlockMatrixCCS< MatrixType >::colBlockIndices ( ) const

inline

indices of the column blocks

Definition at line 104 of file sparse_block_matrix_ccs.h.

104{ return _colBlockIndices; }

References _colBlockIndices.

◆ cols()

template<class MatrixType>

int g2o::SparseBlockMatrixCCS< MatrixType >::cols ( ) const

inline

columns of the matrix

Definition at line 54 of file sparse_block_matrix_ccs.h.

                   {
    return _colBlockIndices.size() ? _colBlockIndices.back() : 0;
  }

References _colBlockIndices.

Referenced by rightMultiply().

◆ colsOfBlock()

template<class MatrixType>

int g2o::SparseBlockMatrixCCS< MatrixType >::colsOfBlock ( int c ) const

inline

how many cols does the block at block-col c has?

Definition at line 85 of file sparse_block_matrix_ccs.h.

                               {
    return c ? _colBlockIndices[c] - _colBlockIndices[c - 1]
             : _colBlockIndices[0];
  }

References _colBlockIndices.

Referenced by fillCCS().

◆ fillCCS() [1/2]

template<class MatrixType>

int g2o::SparseBlockMatrixCCS< MatrixType >::fillCCS	(	double *	Cx,
		bool	upperTriangle = false ) const

inline

fill the CCS arrays of a matrix, arrays have to be allocated beforehand. This function only writes the values and assumes that column and row structures have already been written.

Definition at line 180 of file sparse_block_matrix_ccs.h.

                                                          {
    assert(Cx && "Target destination is NULL");
    double* CxStart = Cx;
    int cstart = 0;
    for (size_t i = 0; i < _blockCols.size(); ++i) {
      int csize = _colBlockIndices[i] - cstart;
      for (int c = 0; c < csize; ++c) {
        for (typename SparseColumn::const_iterator it = _blockCols[i].begin();
             it != _blockCols[i].end(); ++it) {
          const SparseMatrixBlock* b = it->block;
          int rstart = it->row ? _rowBlockIndices[it->row - 1] : 0;
 
          int elemsToCopy = b->rows();
          if (upperTriangle && rstart == cstart) elemsToCopy = c + 1;
          memcpy(Cx, b->data() + c * b->rows(), elemsToCopy * sizeof(double));
          Cx += elemsToCopy;
        }
      }
      cstart = _colBlockIndices[i];
    }
    return Cx - CxStart;
  }

References _blockCols, _colBlockIndices, and _rowBlockIndices.

◆ fillCCS() [2/2]

template<class MatrixType>

int g2o::SparseBlockMatrixCCS< MatrixType >::fillCCS	(	int *	Cp,
		int *	Ci,
		double *	Cx,
		bool	upperTriangle = false ) const

inline

fill the CCS arrays of a matrix, arrays have to be allocated beforehand

Definition at line 147 of file sparse_block_matrix_ccs.h.

                                                                            {
    assert(Cp && Ci && Cx && "Target destination is NULL");
    int nz = 0;
    for (size_t i = 0; i < _blockCols.size(); ++i) {
      int cstart = i ? _colBlockIndices[i - 1] : 0;
      int csize = colsOfBlock(i);
      for (int c = 0; c < csize; ++c) {
        *Cp = nz;
        for (typename SparseColumn::const_iterator it = _blockCols[i].begin();
             it != _blockCols[i].end(); ++it) {
          const SparseMatrixBlock* b = it->block;
          int rstart = it->row ? _rowBlockIndices[it->row - 1] : 0;
 
          int elemsToCopy = b->rows();
          if (upperTriangle && rstart == cstart) elemsToCopy = c + 1;
          for (int r = 0; r < elemsToCopy; ++r) {
            *Cx++ = (*b)(r, c);
            *Ci++ = rstart++;
            ++nz;
          }
        }
        ++Cp;
      }
    }
    *Cp = nz;
    return nz;
  }

References _blockCols, _colBlockIndices, _rowBlockIndices, and colsOfBlock().

◆ rightMultiply()

template<class MatrixType>

void g2o::SparseBlockMatrixCCS< MatrixType >::rightMultiply	(	double *&	dest,
		const double *	src ) const

inline

Definition at line 106 of file sparse_block_matrix_ccs.h.

                                                             {
    int destSize = cols();
 
    if (!dest) {
      dest = new double[destSize];
      memset(dest, 0, destSize * sizeof(double));
    }
 
    // map the memory by Eigen
    Eigen::Map<VectorX> destVec(dest, destSize);
    Eigen::Map<const VectorX> srcVec(src, rows());
 
#ifdef G2O_OPENMP
#pragma omp parallel for default(shared) schedule(dynamic, 10)
#endif
    for (int i = 0; i < static_cast<int>(_blockCols.size()); ++i) {
      int destOffset = colBaseOfBlock(i);
      for (typename SparseColumn::const_iterator it = _blockCols[i].begin();
           it != _blockCols[i].end(); ++it) {
        const SparseMatrixBlock* a = it->block;
        int srcOffset = rowBaseOfBlock(it->row);
        // destVec += *a.transpose() * srcVec (according to the sub-vector
        // parts)
        internal::template atxpy<SparseMatrixBlock>(*a, srcVec, srcOffset,
                                                    destVec, destOffset);
      }
    }
  }

References _blockCols, colBaseOfBlock(), cols(), rowBaseOfBlock(), and rows().

◆ rowBaseOfBlock()

template<class MatrixType>

int g2o::SparseBlockMatrixCCS< MatrixType >::rowBaseOfBlock ( int r ) const

inline

where does the row at block-row r start?

Definition at line 91 of file sparse_block_matrix_ccs.h.

91{ return r ? _rowBlockIndices[r - 1] : 0; }

References _rowBlockIndices.

Referenced by rightMultiply().

◆ rowBlockIndices()

template<class MatrixType>

const std::vector< int > & g2o::SparseBlockMatrixCCS< MatrixType >::rowBlockIndices ( ) const

inline

indices of the row blocks

Definition at line 101 of file sparse_block_matrix_ccs.h.

101{ return _rowBlockIndices; }

References _rowBlockIndices.

◆ rows()

template<class MatrixType>

int g2o::SparseBlockMatrixCCS< MatrixType >::rows ( ) const

inline

rows of the matrix

Definition at line 58 of file sparse_block_matrix_ccs.h.

                   {
    return _rowBlockIndices.size() ? _rowBlockIndices.back() : 0;
  }

References _rowBlockIndices.

Referenced by rightMultiply().

◆ rowsOfBlock()

template<class MatrixType>

int g2o::SparseBlockMatrixCCS< MatrixType >::rowsOfBlock ( int r ) const

inline

how many rows does the block at block-row r has?

Definition at line 79 of file sparse_block_matrix_ccs.h.

                               {
    return r ? _rowBlockIndices[r] - _rowBlockIndices[r - 1]
             : _rowBlockIndices[0];
  }

References _rowBlockIndices.

◆ sortColumns()

template<class MatrixType>

void g2o::SparseBlockMatrixCCS< MatrixType >::sortColumns ( )

inline

sort the blocks in each column

Definition at line 138 of file sparse_block_matrix_ccs.h.

                     {
    for (int i = 0; i < static_cast<int>(_blockCols.size()); ++i) {
      std::sort(_blockCols[i].begin(), _blockCols[i].end());
    }
  }

References _blockCols.

Member Data Documentation

◆ _blockCols

template<class MatrixType>

std::vector<SparseColumn> g2o::SparseBlockMatrixCCS< MatrixType >::_blockCols

protected

the matrices stored in CCS order

Definition at line 208 of file sparse_block_matrix_ccs.h.

Referenced by blockCols(), blockCols(), fillCCS(), fillCCS(), rightMultiply(), and sortColumns().

◆ _colBlockIndices

template<class MatrixType>

const std::vector<int>& g2o::SparseBlockMatrixCCS< MatrixType >::_colBlockIndices

protected

vector of the indices of the blocks along the cols

Definition at line 207 of file sparse_block_matrix_ccs.h.

Referenced by colBaseOfBlock(), colBlockIndices(), cols(), colsOfBlock(), fillCCS(), fillCCS(), and SparseBlockMatrixCCS().

◆ _rowBlockIndices

template<class MatrixType>

const std::vector<int>& g2o::SparseBlockMatrixCCS< MatrixType >::_rowBlockIndices

protected

vector of the indices of the blocks along the rows.

Definition at line 204 of file sparse_block_matrix_ccs.h.

Referenced by fillCCS(), fillCCS(), rowBaseOfBlock(), rowBlockIndices(), rows(), rowsOfBlock(), and SparseBlockMatrixCCS().

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

/build/g2o-YEvA6N/g2o-0~20230806/g2o/core/sparse_block_matrix_ccs.h

Classes

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ SparseColumn

◆ SparseMatrixBlock

Constructor & Destructor Documentation

◆ SparseBlockMatrixCCS()

Member Function Documentation

◆ blockCols() [1/2]

◆ blockCols() [2/2]

◆ colBaseOfBlock()

◆ colBlockIndices()

◆ cols()

◆ colsOfBlock()

◆ fillCCS() [1/2]

◆ fillCCS() [2/2]

◆ rightMultiply()

◆ rowBaseOfBlock()

◆ rowBlockIndices()

◆ rows()

◆ rowsOfBlock()

◆ sortColumns()

Member Data Documentation

◆ _blockCols

◆ _colBlockIndices

◆ _rowBlockIndices