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<div class="title">CSparseMatrix.h</div> </div>
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<a href="_c_sparse_matrix_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CSparseMatrix_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CSparseMatrix_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="exceptions_8h.html">mrpt/utils/exceptions.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_uncopiable_8h.html">mrpt/utils/CUncopiable.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="math__frwds_8h.html">mrpt/math/math_frwds.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_sparse_matrix_template_8h.html">mrpt/math/CSparseMatrixTemplate.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_matrix_template_numeric_8h.html">mrpt/math/CMatrixTemplateNumeric.h</a>></span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <<a class="code" href="_c_matrix_fixed_numeric_8h.html">mrpt/math/CMatrixFixedNumeric.h</a>></span>
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="keyword">extern</span> <span class="stringliteral">"C"</span>{
<a name="l00041"></a>00041 <span class="preprocessor">#include <<a class="code" href="cs_8h.html">mrpt/otherlibs/CSparse/cs.h</a>></span>
<a name="l00042"></a>00042 }
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="keyword">namespace </span>mrpt
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <span class="keyword">namespace </span>math
<a name="l00047"></a>00047 {<span class="comment"></span>
<a name="l00048"></a>00048 <span class="comment"> /** Used in mrpt::math::CSparseMatrix */</span>
<a name="l00049"></a>00049 <span class="keyword">class </span>CExceptionNotDefPos : <span class="keyword">public</span> mrpt::utils::CMRPTException
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051 <span class="keyword">public</span>:
<a name="l00052"></a><a class="code" href="classmrpt_1_1math_1_1_c_exception_not_def_pos.html#a7f4d479f8726dbb189431ad00d18164d">00052</a> <a class="code" href="classmrpt_1_1math_1_1_c_exception_not_def_pos.html#a7f4d479f8726dbb189431ad00d18164d">CExceptionNotDefPos</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &s) : <a class="code" href="classmrpt_1_1utils_1_1_c_m_r_p_t_exception.html" title="The base for MRPT-especific exceptions.">CMRPTException</a>(s) { }
<a name="l00053"></a>00053 };
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="comment"></span>
<a name="l00056"></a>00056 <span class="comment"> /** A sparse matrix capable of efficient math operations (a wrapper around the CSparse library)</span>
<a name="l00057"></a>00057 <span class="comment"> * The type of cells is fixed to "double".</span>
<a name="l00058"></a>00058 <span class="comment"> *</span>
<a name="l00059"></a>00059 <span class="comment"> * There are two main formats for the non-zero entries in this matrix:</span>
<a name="l00060"></a>00060 <span class="comment"> * - A "triplet" matrix: a set of (r,c)=val triplet entries.</span>
<a name="l00061"></a>00061 <span class="comment"> * - A column-compressed sparse matrix.</span>
<a name="l00062"></a>00062 <span class="comment"> *</span>
<a name="l00063"></a>00063 <span class="comment"> * The latter is the "normal" format, which is expected by most mathematical operations defined</span>
<a name="l00064"></a>00064 <span class="comment"> * in this class. There're two three ways of initializing and populating a sparse matrix:</span>
<a name="l00065"></a>00065 <span class="comment"> *</span>
<a name="l00066"></a>00066 <span class="comment"> * <ol></span>
<a name="l00067"></a>00067 <span class="comment"> * <li> <b>As a triplet (empty), then add entries, then compress:</b></span>
<a name="l00068"></a>00068 <span class="comment"> * \code</span>
<a name="l00069"></a>00069 <span class="comment"> * CSparseMatrix SM(100,100);</span>
<a name="l00070"></a>00070 <span class="comment"> * SM.insert_entry(i,j, val); // or</span>
<a name="l00071"></a>00071 <span class="comment"> * SM.insert_submatrix(i,j, MAT); // ...</span>
<a name="l00072"></a>00072 <span class="comment"> * SM.compressFromTriplet();</span>
<a name="l00073"></a>00073 <span class="comment"> * \endcode</span>
<a name="l00074"></a>00074 <span class="comment"> * </li></span>
<a name="l00075"></a>00075 <span class="comment"> * <li> <b>As a triplet from a CSparseMatrixTemplate<double>:</b></span>
<a name="l00076"></a>00076 <span class="comment"> * \code</span>
<a name="l00077"></a>00077 <span class="comment"> * CSparseMatrixTemplate<double> data;</span>
<a name="l00078"></a>00078 <span class="comment"> * data(row,col) = val;</span>
<a name="l00079"></a>00079 <span class="comment"> * ...</span>
<a name="l00080"></a>00080 <span class="comment"> * CSparseMatrix SM(data);</span>
<a name="l00081"></a>00081 <span class="comment"> * \endcode</span>
<a name="l00082"></a>00082 <span class="comment"> * </li></span>
<a name="l00083"></a>00083 <span class="comment"> * <li> <b>From an existing dense matrix:</b></span>
<a name="l00084"></a>00084 <span class="comment"> * \code</span>
<a name="l00085"></a>00085 <span class="comment"> * CMatrixDouble data(100,100); // or</span>
<a name="l00086"></a>00086 <span class="comment"> * CMatrixFloat data(100,100); // or</span>
<a name="l00087"></a>00087 <span class="comment"> * CMatrixFixedNumeric<double,4,6> data; // etc...</span>
<a name="l00088"></a>00088 <span class="comment"> * CSparseMatrix SM(data);</span>
<a name="l00089"></a>00089 <span class="comment"> * \endcode</span>
<a name="l00090"></a>00090 <span class="comment"> * </li></span>
<a name="l00091"></a>00091 <span class="comment"> *</span>
<a name="l00092"></a>00092 <span class="comment"> * </ol></span>
<a name="l00093"></a>00093 <span class="comment"> *</span>
<a name="l00094"></a>00094 <span class="comment"> * Due to its practical utility, there is a special inner class CSparseMatrix::CholeskyDecomp to handle Cholesky-related methods and data.</span>
<a name="l00095"></a>00095 <span class="comment"> *</span>
<a name="l00096"></a>00096 <span class="comment"> *</span>
<a name="l00097"></a>00097 <span class="comment"> * \note This class was initially adapted from "robotvision", by Hauke Strasdat, Steven Lovegrove and Andrew J. Davison. See http://www.openslam.org/robotvision.html</span>
<a name="l00098"></a>00098 <span class="comment"> * \note CSparse is maintained by Timothy Davis: http://people.sc.fsu.edu/~jburkardt/c_src/csparse/csparse.html .</span>
<a name="l00099"></a>00099 <span class="comment"> * \note See also his book "Direct methods for sparse linear systems". http://books.google.es/books?id=TvwiyF8vy3EC&pg=PA12&lpg=PA12&dq=cs_compress&source=bl&ots=od9uGJ793j&sig=Wa-fBk4sZkZv3Y0Op8FNH8PvCUs&hl=es&ei=UjA0TJf-EoSmsQay3aXPAw&sa=X&oi=book_result&ct=result&resnum=8&ved=0CEQQ6AEwBw#v=onepage&q&f=false</span>
<a name="l00100"></a>00100 <span class="comment"> *</span>
<a name="l00101"></a>00101 <span class="comment"> * \sa mrpt::math::CMatrixFixedNumeric, mrpt::math::CMatrixTemplateNumeric, etc.</span>
<a name="l00102"></a>00102 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a>00104 <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> CSparseMatrix
<a name="l00105"></a>00105 {
<a name="l00106"></a>00106 <span class="keyword">private</span>:
<a name="l00107"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#af45bc10e45c938c73ce281f2aea239d5">00107</a> <a class="code" href="structcs__sparse.html">cs</a> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#af45bc10e45c938c73ce281f2aea239d5">sparse_matrix</a>;
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** Initialization from a dense matrix of any kind existing in MRPT. */</span>
<a name="l00110"></a>00110 <span class="keyword">template</span> <<span class="keyword">class</span> MATRIX>
<a name="l00111"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a69f2b0a005c61fe8fcf4b0d8c0442c43">00111</a> <span class="keywordtype">void</span> construct_from_mrpt_mat(<span class="keyword">const</span> MATRIX & C)
<a name="l00112"></a>00112 {
<a name="l00113"></a>00113 std<a class="code" href="classstd_1_1vector.html">::vector<int></a> row_list, col_list; <span class="comment">// Use "int" for convenience so we can do a memcpy below...</span>
<a name="l00114"></a>00114 std<a class="code" href="classstd_1_1vector.html">::vector<double></a> content_list;
<a name="l00115"></a>00115 <span class="keyword">const</span> <span class="keywordtype">int</span> nCol = C.getColCount();
<a name="l00116"></a>00116 <span class="keyword">const</span> <span class="keywordtype">int</span> nRow = C.getRowCount();
<a name="l00117"></a>00117 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c=0; c<nCol; ++c)
<a name="l00118"></a>00118 {
<a name="l00119"></a>00119 col_list.push_back(row_list.size());
<a name="l00120"></a>00120 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> r=0; r<nRow; ++r)
<a name="l00121"></a>00121 <span class="keywordflow">if</span> (C.get_unsafe(r,c)!=0)
<a name="l00122"></a>00122 {
<a name="l00123"></a>00123 row_list.push_back(r);
<a name="l00124"></a>00124 content_list.push_back(C(r,c));
<a name="l00125"></a>00125 }
<a name="l00126"></a>00126 }
<a name="l00127"></a>00127 col_list.push_back(row_list.size());
<a name="l00128"></a>00128
<a name="l00129"></a>00129 sparse_matrix.m = nRow;
<a name="l00130"></a>00130 sparse_matrix.n = nCol;
<a name="l00131"></a>00131 sparse_matrix.nzmax = content_list.size();
<a name="l00132"></a>00132 sparse_matrix.i = (<span class="keywordtype">int</span>*)malloc(<span class="keyword">sizeof</span>(<span class="keywordtype">int</span>)*row_list.size());
<a name="l00133"></a>00133 sparse_matrix.p = (<span class="keywordtype">int</span>*)malloc(<span class="keyword">sizeof</span>(<span class="keywordtype">int</span>)*col_list.size());
<a name="l00134"></a>00134 sparse_matrix.x = (<span class="keywordtype">double</span>*)malloc(<span class="keyword">sizeof</span>(<span class="keywordtype">double</span>)*content_list.size());
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <a class="code" href="group__mrpt__system__os.html#gae1184cfb1f617787dc4c9da98becbe3a" title="An OS and compiler independent version of "memcpy".">::memcpy</a>(sparse_matrix.i, &row_list[0], <span class="keyword">sizeof</span>(row_list[0])*row_list.size() );
<a name="l00137"></a>00137 <a class="code" href="group__mrpt__system__os.html#gae1184cfb1f617787dc4c9da98becbe3a" title="An OS and compiler independent version of "memcpy".">::memcpy</a>(sparse_matrix.p, &col_list[0], <span class="keyword">sizeof</span>(col_list[0])*col_list.size() );
<a name="l00138"></a>00138 <a class="code" href="group__mrpt__system__os.html#gae1184cfb1f617787dc4c9da98becbe3a" title="An OS and compiler independent version of "memcpy".">::memcpy</a>(sparse_matrix.x, &content_list[0], <span class="keyword">sizeof</span>(content_list[0])*content_list.size() );
<a name="l00139"></a>00139
<a name="l00140"></a>00140 sparse_matrix.nz = -1; <span class="comment">// <0 means "column compressed", ">=0" means triplet.</span>
<a name="l00141"></a>00141 }
<a name="l00142"></a>00142 <span class="comment"></span>
<a name="l00143"></a>00143 <span class="comment"> /** Initialization from a triplet "cs", which is first compressed */</span>
<a name="l00144"></a>00144 <span class="keywordtype">void</span> construct_from_triplet(<span class="keyword">const</span> <a class="code" href="structcs__sparse.html">cs</a> & triplet);
<a name="l00145"></a>00145 <span class="comment"></span>
<a name="l00146"></a>00146 <span class="comment"> /** To be called by constructors only, assume previous pointers are trash and overwrite them */</span>
<a name="l00147"></a>00147 <span class="keywordtype">void</span> construct_from_existing_cs(<span class="keyword">const</span> <a class="code" href="structcs__sparse.html">cs</a> &sm);
<a name="l00148"></a>00148 <span class="comment"></span>
<a name="l00149"></a>00149 <span class="comment"> /** free buffers (deallocate the memory of the i,p,x buffers) */</span>
<a name="l00150"></a>00150 <span class="keywordtype">void</span> internal_free_mem();
<a name="l00151"></a>00151 <span class="comment"></span>
<a name="l00152"></a>00152 <span class="comment"> /** Copy the data from an existing "cs" CSparse data structure */</span>
<a name="l00153"></a>00153 <span class="keywordtype">void</span> copy(<span class="keyword">const</span> <a class="code" href="structcs__sparse.html">cs</a> * <span class="keyword">const</span> sm);
<a name="l00154"></a>00154 <span class="comment"></span>
<a name="l00155"></a>00155 <span class="comment"> /** Fast copy the data from an existing "cs" CSparse data structure, copying the pointers and leaving NULLs in the source structure. */</span>
<a name="l00156"></a>00156 <span class="keywordtype">void</span> copy_fast(<a class="code" href="structcs__sparse.html">cs</a> * <span class="keyword">const</span> sm);
<a name="l00157"></a>00157
<a name="l00158"></a>00158 <span class="keyword">public</span>:
<a name="l00159"></a>00159 <span class="comment"></span>
<a name="l00160"></a>00160 <span class="comment"> /** @name Constructors, destructor & copy operations</span>
<a name="l00161"></a>00161 <span class="comment"> @{ */</span>
<a name="l00162"></a>00162 <span class="comment"></span>
<a name="l00163"></a>00163 <span class="comment"> /** Create an initially empty sparse matrix, in the "triplet" form.</span>
<a name="l00164"></a>00164 <span class="comment"> * Notice that you must call "compressFromTriplet" after populating the matrix and before using the math operatons on this matrix.</span>
<a name="l00165"></a>00165 <span class="comment"> * The initial size can be later on extended with insert_entry() or setRowCount() & setColCount().</span>
<a name="l00166"></a>00166 <span class="comment"> * \sa insert_entry, setRowCount, setColCount</span>
<a name="l00167"></a>00167 <span class="comment"> */</span>
<a name="l00168"></a>00168 <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> nRows=0, <span class="keyword">const</span> <span class="keywordtype">size_t</span> nCols=0);
<a name="l00169"></a>00169 <span class="comment"></span>
<a name="l00170"></a>00170 <span class="comment"> /** A good way to initialize a sparse matrix from a list of non NULL elements.</span>
<a name="l00171"></a>00171 <span class="comment"> * This constructor takes all the non-zero entries in "data" and builds a column-compressed sparse representation.</span>
<a name="l00172"></a>00172 <span class="comment"> */</span>
<a name="l00173"></a>00173 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00174"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a67af500c83f70e8b8b33b4d50fae4759">00174</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_template.html">CSparseMatrixTemplate<T></a> & data)
<a name="l00175"></a>00175 {
<a name="l00176"></a>00176 <a class="code" href="mrpt__macros_8h.html#ad30ea0382c594c0e2efe88212e9352b0">ASSERTMSG_</a>(!data.<a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_template.html#a6b717486d2d69655b30d110db4165bd7" title="Are there no elements set to !=0 ?">empty</a>(), <span class="stringliteral">"Input data must contain at least one non-zero element."</span>)
<a name="l00177"></a>00177 sparse_matrix.i = NULL; <span class="comment">// This is to know they shouldn't be tried to free()</span>
<a name="l00178"></a>00178 sparse_matrix.p = NULL;
<a name="l00179"></a>00179 sparse_matrix.x = NULL;
<a name="l00180"></a>00180
<a name="l00181"></a>00181 <span class="comment">// 1) Create triplet matrix</span>
<a name="l00182"></a>00182 <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> triplet(data.<a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_template.html#a791dd49435a4bed1d3c340939807697c" title="Returns the amount of rows in this matrix.">getRowCount</a>(),data.<a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_template.html#ad3d8491c5a4dfb46dabf00be2e595d16" title="Returns the amount of columns in this matrix.">getColCount</a>());
<a name="l00183"></a>00183 <span class="comment">// 2) Put data in:</span>
<a name="l00184"></a>00184 <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_template.html" title="A sparse matrix container (with cells of any type), with iterators.">CSparseMatrixTemplate<T>::const_iterator</a> it=data.<a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_template.html#afcf8eb5ac80e0f37ad19adca335faf6d" title="Returns an iterator which points to the starting point of the matrix.">begin</a>();it!=data.<a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_template.html#ad22beed94e2b53572d00cae7c4fbb65c" title="Returns an iterator which points to the end of the matrix.">end</a>();++it)
<a name="l00185"></a>00185 triplet.<a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#abc4058c15d5a02f8d56853de8cbab18b" title="ONLY for TRIPLET matrices: Insert an element into a "cs", without checking if the matrix is in Triple...">insert_entry_fast</a>(it->first.first,it->first.second, it->second);
<a name="l00186"></a>00186
<a name="l00187"></a>00187 <span class="comment">// 3) Compress:</span>
<a name="l00188"></a>00188 construct_from_triplet(triplet.sparse_matrix);
<a name="l00189"></a>00189 }
<a name="l00190"></a>00190
<a name="l00191"></a>00191
<a name="l00192"></a>00192 <span class="comment">// We can't do a simple "template <class ANYMATRIX>" since it would be tried to match against "cs*"...</span>
<a name="l00193"></a>00193 <span class="comment"></span>
<a name="l00194"></a>00194 <span class="comment"> /** Constructor from a dense matrix of any kind existing in MRPT, creating a "column-compressed" sparse matrix. */</span>
<a name="l00195"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a9adcd5be76c48044671b4d63de30120a">00195</a> <span class="keyword">template</span> <<span class="keyword">typename</span> T,<span class="keywordtype">size_t</span> N,<span class="keywordtype">size_t</span> M> <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a9adcd5be76c48044671b4d63de30120a" title="Constructor from a dense matrix of any kind existing in MRPT, creating a "column-compressed" sparse m...">CSparseMatrix</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<T,N,M></a> &MAT) { construct_from_mrpt_mat(MAT); }
<a name="l00196"></a>00196 <span class="comment"></span>
<a name="l00197"></a>00197 <span class="comment"> /** Constructor from a dense matrix of any kind existing in MRPT, creating a "column-compressed" sparse matrix. */</span>
<a name="l00198"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#acea14c946787fe0be313d17df3eea221">00198</a> <span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#acea14c946787fe0be313d17df3eea221" title="Constructor from a dense matrix of any kind existing in MRPT, creating a "column-compressed" sparse m...">CSparseMatrix</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixTemplateNumeric<T></a> &MAT) { construct_from_mrpt_mat(MAT); }
<a name="l00199"></a>00199 <span class="comment"></span>
<a name="l00200"></a>00200 <span class="comment"> /** Copy constructor */</span>
<a name="l00201"></a>00201 <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> & other);
<a name="l00202"></a>00202 <span class="comment"></span>
<a name="l00203"></a>00203 <span class="comment"> /** Copy constructor from an existing "cs" CSparse data structure */</span>
<a name="l00204"></a>00204 <span class="keyword">explicit</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a>(<span class="keyword">const</span> <a class="code" href="structcs__sparse.html">cs</a> * <span class="keyword">const</span> sm);
<a name="l00205"></a>00205 <span class="comment"></span>
<a name="l00206"></a>00206 <span class="comment"> /** Destructor */</span>
<a name="l00207"></a>00207 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a>();
<a name="l00208"></a>00208 <span class="comment"></span>
<a name="l00209"></a>00209 <span class="comment"> /** Copy operator from another existing object */</span>
<a name="l00210"></a>00210 <span class="keywordtype">void</span> operator = (<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> & other);
<a name="l00211"></a>00211 <span class="comment"></span>
<a name="l00212"></a>00212 <span class="comment"> /** Erase all previous contents and leave the matrix as a "triplet" 1x1 matrix without any data. */</span>
<a name="l00213"></a>00213 <span class="keywordtype">void</span> clear();
<a name="l00214"></a>00214 <span class="comment"></span>
<a name="l00215"></a>00215 <span class="comment"> /** @} */</span>
<a name="l00216"></a>00216 <span class="comment"></span>
<a name="l00217"></a>00217 <span class="comment"> /** @name Math operations (the interesting stuff...)</span>
<a name="l00218"></a>00218 <span class="comment"> @{ */</span>
<a name="l00219"></a>00219
<a name="l00220"></a>00220 <span class="keywordtype">void</span> add_AB(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> & A,<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> & B); <span class="comment">//!< this = A+B</span>
<a name="l00221"></a>00221 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="eigen__plugins_8h.html#a7f39ab70bf340ee5bc203aad960d57e0">multiply_AB</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> & A,<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> & B); <span class="comment">//!< this = A*B</span>
<a name="l00222"></a>00222 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="eigen__plugins_8h.html#a768efc255b5ecad2750092f47313d549">multiply_Ab</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">mrpt::vector_double</a> &b, <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">mrpt::vector_double</a> &out_res) <span class="keyword">const</span>; <span class="comment">//!< out_res = this * b</span>
<a name="l00223"></a>00223 <span class="comment"></span>
<a name="l00224"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#ac6ffc42c8bf4b24ac6632add222caef0">00224</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> <a class="code" href="group__container__ops__grp.html#ga5a1ef801e13687370311dd36eaae6e08" title="a+b (element-wise sum)">operator + </a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> & other)<span class="keyword"> const</span>
<a name="l00225"></a>00225 <span class="keyword"> </span>{
<a name="l00226"></a>00226 <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> RES;
<a name="l00227"></a>00227 RES.<a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a0e28abd9010a84b6a777c97496cb8eb6" title="this = A+B">add_AB</a>(*<span class="keyword">this</span>,other);
<a name="l00228"></a>00228 <span class="keywordflow">return</span> RES;
<a name="l00229"></a>00229 }
<a name="l00230"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#ae270652280c21219cb6fb54b3b8c6b37">00230</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> <a class="code" href="group__container__ops__grp.html#ga6f2d8625a637a5a65585065331b5b0c5" title="a*b (element-wise multiplication)">operator * </a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> & other)<span class="keyword"> const</span>
<a name="l00231"></a>00231 <span class="keyword"> </span>{
<a name="l00232"></a>00232 <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> RES;
<a name="l00233"></a>00233 RES.<a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#aac6d33b70dac52676ab0b7e933d77e80" title="this = A*B">multiply_AB</a>(*<span class="keyword">this</span>,other);
<a name="l00234"></a>00234 <span class="keywordflow">return</span> RES;
<a name="l00235"></a>00235 }
<a name="l00236"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#ac53f79478dd3ad93d38a64fca27d1212">00236</a> <span class="keyword">inline</span> mrpt<a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">::vector_double</a> <a class="code" href="group__container__ops__grp.html#ga6f2d8625a637a5a65585065331b5b0c5" title="a*b (element-wise multiplication)">operator * </a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">mrpt::vector_double</a> & other)<span class="keyword"> const </span>{
<a name="l00237"></a>00237 mrpt<a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">::vector_double</a> res;
<a name="l00238"></a>00238 <a class="code" href="eigen__plugins_8h.html#a768efc255b5ecad2750092f47313d549">multiply_Ab</a>(other,res);
<a name="l00239"></a>00239 <span class="keywordflow">return</span> res;
<a name="l00240"></a>00240 }
<a name="l00241"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#ad5dd8abf27f0cc2a312751f829da1772">00241</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="group__container__ops__grp.html#ga28127b8dfe78fea7644c4f2a3517cdef" title="a+=b (element-wise sum)">operator += </a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> & other) {
<a name="l00242"></a>00242 this->add_AB(*<span class="keyword">this</span>,other);
<a name="l00243"></a>00243 }
<a name="l00244"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a63b605043228deb4187a7bdce0c50f0c">00244</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="group__container__ops__grp.html#gabc43a80aa18fe8ffdfe69fed3ad115a9" title="a*=b (element-wise multiplication)">operator *= </a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> & other) {
<a name="l00245"></a>00245 this-><a class="code" href="eigen__plugins_8h.html#a7f39ab70bf340ee5bc203aad960d57e0">multiply_AB</a>(*<span class="keyword">this</span>,other);
<a name="l00246"></a>00246 }
<a name="l00247"></a>00247 <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> transpose() <span class="keyword">const</span>;
<a name="l00248"></a>00248 <span class="comment"></span>
<a name="l00249"></a>00249 <span class="comment"> /** @} */</span>
<a name="l00250"></a>00250
<a name="l00251"></a>00251 <span class="comment"></span>
<a name="l00252"></a>00252 <span class="comment"> /** @ Access the matrix, get, set elements, etc.</span>
<a name="l00253"></a>00253 <span class="comment"> @{ */</span>
<a name="l00254"></a>00254 <span class="comment"></span>
<a name="l00255"></a>00255 <span class="comment"> /** ONLY for TRIPLET matrices: insert a new non-zero entry in the matrix.</span>
<a name="l00256"></a>00256 <span class="comment"> * This method cannot be used once the matrix is in column-compressed form.</span>
<a name="l00257"></a>00257 <span class="comment"> * The size of the matrix will be automatically extended if the indices are out of the current limits.</span>
<a name="l00258"></a>00258 <span class="comment"> * \sa isTriplet, compressFromTriplet</span>
<a name="l00259"></a>00259 <span class="comment"> */</span>
<a name="l00260"></a>00260 <span class="keywordtype">void</span> insert_entry(<span class="keyword">const</span> <span class="keywordtype">size_t</span> row, <span class="keyword">const</span> <span class="keywordtype">size_t</span> col, <span class="keyword">const</span> <span class="keywordtype">double</span> val );
<a name="l00261"></a>00261 <span class="comment"></span>
<a name="l00262"></a>00262 <span class="comment"> /** ONLY for TRIPLET matrices: Insert an element into a "cs", without checking if the matrix is in Triplet format and without extending the matrix extension/limits if (row,col) is out of the current size. */</span>
<a name="l00263"></a>00263 <span class="keywordtype">void</span> insert_entry_fast(<span class="keyword">const</span> <span class="keywordtype">size_t</span> row, <span class="keyword">const</span> <span class="keywordtype">size_t</span> col, <span class="keyword">const</span> <span class="keywordtype">double</span> val );
<a name="l00264"></a>00264 <span class="comment"></span>
<a name="l00265"></a>00265 <span class="comment"> /** ONLY for TRIPLET matrices: insert a given matrix (in any of the MRPT formats) at a given location of the sparse matrix.</span>
<a name="l00266"></a>00266 <span class="comment"> * This method cannot be used once the matrix is in column-compressed form.</span>
<a name="l00267"></a>00267 <span class="comment"> * The size of the matrix will be automatically extended if the indices are out of the current limits.</span>
<a name="l00268"></a>00268 <span class="comment"> * Since this is inline, it can be very efficient for fixed-size MRPT matrices.</span>
<a name="l00269"></a>00269 <span class="comment"> * \sa isTriplet, compressFromTriplet, insert_entry</span>
<a name="l00270"></a>00270 <span class="comment"> */</span>
<a name="l00271"></a>00271 <span class="keyword">template</span> <<span class="keyword">class</span> MATRIX>
<a name="l00272"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a894f92cdcb91d4f700d5724bf11e0382">00272</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> insert_submatrix(<span class="keyword">const</span> <span class="keywordtype">size_t</span> row, <span class="keyword">const</span> <span class="keywordtype">size_t</span> col, <span class="keyword">const</span> MATRIX &M )
<a name="l00273"></a>00273 {
<a name="l00274"></a>00274 <span class="keywordflow">if</span> (!isTriplet()) <a class="code" href="mrpt__macros_8h.html#aaa3f404ea85a6575a7139f8d101370ba">THROW_EXCEPTION</a>(<span class="stringliteral">"insert_entry() is only available for sparse matrix in 'triplet' format."</span>)
<a name="l00275"></a>00275 <span class="keyword">const</span> <span class="keywordtype">size_t</span> nR = M.getRowCount();
<a name="l00276"></a>00276 <span class="keyword">const</span> <span class="keywordtype">size_t</span> nC = M.getColCount();
<a name="l00277"></a>00277 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> r=0;r<nR;r++)
<a name="l00278"></a>00278 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> c=0;c<nC;c++)
<a name="l00279"></a>00279 insert_entry_fast(row+r,col+c, M.get_unsafe(r,c));
<a name="l00280"></a>00280 <span class="comment">// If needed, extend the size of the matrix:</span>
<a name="l00281"></a>00281 sparse_matrix.m = std::max(sparse_matrix.m, <span class="keywordtype">int</span>(row+nR));
<a name="l00282"></a>00282 sparse_matrix.n = std::max(sparse_matrix.n, <span class="keywordtype">int</span>(col+nC));
<a name="l00283"></a>00283 }
<a name="l00284"></a>00284
<a name="l00285"></a>00285 <span class="comment"></span>
<a name="l00286"></a>00286 <span class="comment"> /** ONLY for TRIPLET matrices: convert the matrix in a column-compressed form.</span>
<a name="l00287"></a>00287 <span class="comment"> * \sa insert_entry</span>
<a name="l00288"></a>00288 <span class="comment"> */</span>
<a name="l00289"></a>00289 <span class="keywordtype">void</span> compressFromTriplet();
<a name="l00290"></a>00290 <span class="comment"></span>
<a name="l00291"></a>00291 <span class="comment"> /** Return a dense representation of the sparse matrix.</span>
<a name="l00292"></a>00292 <span class="comment"> * \sa saveToTextFile_dense</span>
<a name="l00293"></a>00293 <span class="comment"> */</span>
<a name="l00294"></a>00294 <span class="keywordtype">void</span> get_dense(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixDouble</a> &outMat) <span class="keyword">const</span>;
<a name="l00295"></a>00295 <span class="comment"></span>
<a name="l00296"></a>00296 <span class="comment"> /** Static method to convert a "cs" structure into a dense representation of the sparse matrix.</span>
<a name="l00297"></a>00297 <span class="comment"> */</span>
<a name="l00298"></a>00298 <span class="keyword">static</span> <span class="keywordtype">void</span> cs2dense(<span class="keyword">const</span> <a class="code" href="structcs__sparse.html">cs</a>& SM, <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixDouble</a> &outMat);
<a name="l00299"></a>00299 <span class="comment"></span>
<a name="l00300"></a>00300 <span class="comment"> /** save as a dense matrix to a text file \return False on any error.</span>
<a name="l00301"></a>00301 <span class="comment"> */</span>
<a name="l00302"></a>00302 <span class="keywordtype">bool</span> saveToTextFile_dense(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &filName);
<a name="l00303"></a>00303
<a name="l00304"></a>00304 <span class="comment">// Very basic, standard methods that MRPT methods expect for any matrix:</span>
<a name="l00305"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a1214329cf1365c3438c0f78a92603eb8">00305</a> <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a1214329cf1365c3438c0f78a92603eb8">getRowCount</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> sparse_matrix.m; }
<a name="l00306"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#af8abe241e9f40a99b6baa0bf7925b5e2">00306</a> <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#af8abe241e9f40a99b6baa0bf7925b5e2">getColCount</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> sparse_matrix.n; }
<a name="l00307"></a>00307 <span class="comment"></span>
<a name="l00308"></a>00308 <span class="comment"> /** Change the number of rows in the matrix (can't be lower than current size) */</span>
<a name="l00309"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a10a20d1ac9b6d243517632b106940230">00309</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a10a20d1ac9b6d243517632b106940230" title="Change the number of rows in the matrix (can't be lower than current size)">setRowCount</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> nRows) { <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(nRows>=(<span class="keywordtype">size_t</span>)sparse_matrix.m); sparse_matrix.m = nRows; }
<a name="l00310"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a7c712ee22308a4192a607e94781a534e">00310</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a7c712ee22308a4192a607e94781a534e">setColCount</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> nCols) { <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(nCols>=(<span class="keywordtype">size_t</span>)sparse_matrix.n); sparse_matrix.n = nCols; }
<a name="l00311"></a>00311 <span class="comment"></span>
<a name="l00312"></a>00312 <span class="comment"> /** Returns true if this sparse matrix is in "triplet" form. \sa isColumnCompressed */</span>
<a name="l00313"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a8c4fb86b861bc3cfd690551c25722e94">00313</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a8c4fb86b861bc3cfd690551c25722e94" title="Returns true if this sparse matrix is in "triplet" form.">isTriplet</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> sparse_matrix.nz>=0; } <span class="comment">// <0 means "column compressed", ">=0" means triplet.</span>
<a name="l00314"></a>00314 <span class="comment"></span>
<a name="l00315"></a>00315 <span class="comment"> /** Returns true if this sparse matrix is in "column compressed" form. \sa isTriplet */</span>
<a name="l00316"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a9b9eb4fd3d1a54d4ced1a2fe2cd5c2ac">00316</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html#a9b9eb4fd3d1a54d4ced1a2fe2cd5c2ac" title="Returns true if this sparse matrix is in "column compressed" form.">isColumnCompressed</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> sparse_matrix.nz<0; } <span class="comment">// <0 means "column compressed", ">=0" means triplet.</span>
<a name="l00317"></a>00317 <span class="comment"></span>
<a name="l00318"></a>00318 <span class="comment"> /** @} */</span>
<a name="l00319"></a>00319
<a name="l00320"></a>00320 <span class="comment"></span>
<a name="l00321"></a>00321 <span class="comment"> /** @name Cholesky factorization</span>
<a name="l00322"></a>00322 <span class="comment"> @{ */</span>
<a name="l00323"></a>00323 <span class="comment"></span>
<a name="l00324"></a>00324 <span class="comment"> /** Auxiliary class to hold the results of a Cholesky factorization of a sparse matrix.</span>
<a name="l00325"></a>00325 <span class="comment"> * Usage example:</span>
<a name="l00326"></a>00326 <span class="comment"> * \code</span>
<a name="l00327"></a>00327 <span class="comment"> * CSparseMatrix SM(100,100);</span>
<a name="l00328"></a>00328 <span class="comment"> * SM.insert_entry(i,j, val); ...</span>
<a name="l00329"></a>00329 <span class="comment"> * SM.compressFromTriplet();</span>
<a name="l00330"></a>00330 <span class="comment"> *</span>
<a name="l00331"></a>00331 <span class="comment"> * // Do Cholesky decomposition:</span>
<a name="l00332"></a>00332 <span class="comment"> * CSparseMatrix::CholeskyDecomp CD(SM);</span>
<a name="l00333"></a>00333 <span class="comment"> * CD.get_inverse();</span>
<a name="l00334"></a>00334 <span class="comment"> * ...</span>
<a name="l00335"></a>00335 <span class="comment"> * \endcode</span>
<a name="l00336"></a>00336 <span class="comment"> *</span>
<a name="l00337"></a>00337 <span class="comment"> * \note Only the upper triangular part of the input matrix is accessed.</span>
<a name="l00338"></a>00338 <span class="comment"> * \note This class was initially adapted from "robotvision", by Hauke Strasdat, Steven Lovegrove and Andrew J. Davison. See http://www.openslam.org/robotvision.html</span>
<a name="l00339"></a>00339 <span class="comment"> * \note This class designed to be "uncopiable".</span>
<a name="l00340"></a>00340 <span class="comment"> * \sa The main class: CSparseMatrix</span>
<a name="l00341"></a>00341 <span class="comment"> */</span>
<a name="l00342"></a>00342 <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> CholeskyDecomp : <span class="keyword">public</span> mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_uncopiable.html" title="The base class of classes that cannot be copied: compile-time errors will be issued on any copy opera...">CUncopiable</a>
<a name="l00343"></a>00343 {
<a name="l00344"></a>00344 <span class="keyword">private</span>:
<a name="l00345"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_1_1_cholesky_decomp.html#a93f179dd287779e018e95829cf3a5c68">00345</a> <a class="code" href="structcs__symbolic.html">css</a> * <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_1_1_cholesky_decomp.html#a93f179dd287779e018e95829cf3a5c68">m_symbolic_structure</a>;
<a name="l00346"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_1_1_cholesky_decomp.html#a38a4c14675e0045a800633651774b90d">00346</a> <a class="code" href="structcs__numeric.html">csn</a> * <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_1_1_cholesky_decomp.html#a38a4c14675e0045a800633651774b90d">m_numeric_structure</a>;
<a name="l00347"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_1_1_cholesky_decomp.html#ac391e5c78a90a580d501f8141364d727">00347</a> <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> *<a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_1_1_cholesky_decomp.html#ac391e5c78a90a580d501f8141364d727" title="A const reference to the original matrix used to build this decomposition.">m_originalSM</a>; <span class="comment">//!< A const reference to the original matrix used to build this decomposition.</span>
<a name="l00348"></a>00348 <span class="comment"></span>
<a name="l00349"></a>00349 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00350"></a>00350 <span class="comment"> /** Constructor from a square definite-positive sparse matrix A, which can be use to solve Ax=b</span>
<a name="l00351"></a>00351 <span class="comment"> * The actual Cholesky decomposition takes places in this constructor.</span>
<a name="l00352"></a>00352 <span class="comment"> * \note Only the upper triangular part of the matrix is accessed.</span>
<a name="l00353"></a>00353 <span class="comment"> * \exception std::runtime_error On non-square input matrix.</span>
<a name="l00354"></a>00354 <span class="comment"> * \exception mrpt::math::CExceptionNotDefPos On non-definite-positive matrix as input.</span>
<a name="l00355"></a>00355 <span class="comment"> */</span>
<a name="l00356"></a>00356 <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_1_1_cholesky_decomp.html" title="Auxiliary class to hold the results of a Cholesky factorization of a sparse matrix.">CholeskyDecomp</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> &A);
<a name="l00357"></a>00357 <span class="comment"></span>
<a name="l00358"></a>00358 <span class="comment"> /** Destructor */</span>
<a name="l00359"></a>00359 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_1_1_cholesky_decomp.html" title="Auxiliary class to hold the results of a Cholesky factorization of a sparse matrix.">CholeskyDecomp</a>();
<a name="l00360"></a>00360 <span class="comment"></span>
<a name="l00361"></a>00361 <span class="comment"> /** Return the L matrix (L*L' = M), as a dense matrix. */</span>
<a name="l00362"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_1_1_cholesky_decomp.html#a683ec672fe111c51f8077dfe91a02b5b">00362</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixDouble</a> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_1_1_cholesky_decomp.html#a683ec672fe111c51f8077dfe91a02b5b" title="Return the L matrix (L*L' = M), as a dense matrix.">get_L</a>()<span class="keyword"> const </span>{ <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixDouble</a> L; <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_1_1_cholesky_decomp.html#a683ec672fe111c51f8077dfe91a02b5b" title="Return the L matrix (L*L' = M), as a dense matrix.">get_L</a>(L); <span class="keywordflow">return</span> L; }
<a name="l00363"></a>00363 <span class="comment"></span>
<a name="l00364"></a>00364 <span class="comment"> /** Return the L matrix (L*L' = M), as a dense matrix. */</span>
<a name="l00365"></a>00365 <span class="keywordtype">void</span> get_L(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixDouble</a> &out_L) <span class="keyword">const</span>;
<a name="l00366"></a>00366 <span class="comment"></span>
<a name="l00367"></a>00367 <span class="comment"> /** Return the vector from a back-substitution step that solves: Ux=b */</span>
<a name="l00368"></a><a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_1_1_cholesky_decomp.html#a68d1c1d3ac8e5636d61cf9ad6d6ef438">00368</a> <span class="keyword">inline</span> mrpt<a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">::vector_double</a> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_1_1_cholesky_decomp.html#a68d1c1d3ac8e5636d61cf9ad6d6ef438" title="Return the vector from a back-substitution step that solves: Ux=b.">backsub</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">mrpt::vector_double</a> &b)<span class="keyword"> const </span>{ mrpt<a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">::vector_double</a> res; <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix_1_1_cholesky_decomp.html#a68d1c1d3ac8e5636d61cf9ad6d6ef438" title="Return the vector from a back-substitution step that solves: Ux=b.">backsub</a>(b,res); <span class="keywordflow">return</span> res; }
<a name="l00369"></a>00369 <span class="comment"></span>
<a name="l00370"></a>00370 <span class="comment"> /** Return the vector from a back-substitution step that solves: Ux=b */</span>
<a name="l00371"></a>00371 <span class="keywordtype">void</span> backsub(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">mrpt::vector_double</a> &b, <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">mrpt::vector_double</a> &result_x) <span class="keyword">const</span>;
<a name="l00372"></a>00372 <span class="comment"></span>
<a name="l00373"></a>00373 <span class="comment"> /** Update the Cholesky factorization from an updated vesion of the original input, square definite-positive sparse matrix.</span>
<a name="l00374"></a>00374 <span class="comment"> * NOTE: This new matrix MUST HAVE exactly the same sparse structure than the original one.</span>
<a name="l00375"></a>00375 <span class="comment"> */</span>
<a name="l00376"></a>00376 <span class="keywordtype">void</span> update(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_sparse_matrix.html" title="A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type ...">CSparseMatrix</a> &new_SM);
<a name="l00377"></a>00377 };
<a name="l00378"></a>00378
<a name="l00379"></a>00379 <span class="comment"></span>
<a name="l00380"></a>00380 <span class="comment"> /** @} */</span>
<a name="l00381"></a>00381
<a name="l00382"></a>00382 }; <span class="comment">// end class CSparseMatrix</span>
<a name="l00383"></a>00383
<a name="l00384"></a>00384 }
<a name="l00385"></a>00385 }
<a name="l00386"></a>00386 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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