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As I was reading through, wrapped all comments to fit within 80 characters.

release/4.3a0
dellaert 2014-02-15 12:10:17 -05:00
parent 15ba23bf46
commit 298921509c
1 changed files with 50 additions and 31 deletions
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81
gtsam/base/VerticalBlockMatrix.h
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@ -26,18 +26,22 @@ namespace gtsam {
class SymmetricBlockMatrix;
/**
* This class stores a dense matrix and allows it to be accessed as a collection of vertical
* blocks. The dimensions of the blocks are provided when constructing this class.
* This class stores a dense matrix and allows it to be accessed as a collection
* of vertical blocks.
*
* This class also has three parameters that can be changed after construction that change the
* apparent view of the matrix without any reallocation or data copying. firstBlock() determines
* the block that has index 0 for all operations (except for re-setting firstBlock()). rowStart()
* determines the apparent first row of the matrix for all operations (except for setting
* rowStart() and rowEnd()). rowEnd() determines the apparent exclusive (one-past-the-last) last
* row for all operations. To include all rows, rowEnd() should be set to the number of rows in
* the matrix (i.e. one after the last true row index).
* The dimensions of the blocks are provided when constructing this class.
*
* @addtogroup base */
* This class also has three parameters that can be changed after construction
* that change the apparent view of the matrix without any reallocation or data
* copying. firstBlock() determines the block that has index 0 for all operations
* (except for re-setting firstBlock()). rowStart() determines the apparent
* first row of the matrix for all operations (except for setting rowStart() and
* rowEnd()). rowEnd() determines the apparent exclusive (one-past-the-last)
* last row for all operations. To include all rows, rowEnd() should be set to
* the number of rows in the matrix (i.e. one after the last true row index).
*
* @addtogroup base
*/
class GTSAM_EXPORT VerticalBlockMatrix {
public:
typedef VerticalBlockMatrix This;
@ -46,11 +50,13 @@ public:
protected:
Matrix matrix_; ///< The full matrix
FastVector<DenseIndex> variableColOffsets_; ///< the starting columns of each block (0-based)
DenseIndex rowStart_; ///< Changes apparent matrix view, see main class comment.
DenseIndex rowEnd_; ///< Changes apparent matrix view, see main class comment.
DenseIndex blockStart_; ///< Changes apparent matrix view, see main class comment.
/// the starting columns of each block (0-based)
FastVector<DenseIndex> variableColOffsets_;
DenseIndex rowStart_; ///< Changes apparent matrix view, see class comments.
DenseIndex rowEnd_; ///< Changes apparent matrix view, see class comments.
DenseIndex blockStart_; ///< Changes apparent matrix view, see class comments.
public:
@ -70,7 +76,10 @@ public:
assertInvariants();
}
/** Construct from a container of the sizes of each vertical block and a pre-prepared matrix. */
/**
* Construct from a container of the sizes of each vertical block and a
* pre-prepared matrix.
*/
template<typename CONTAINER>
VerticalBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix) :
matrix_(matrix), rowStart_(0), rowEnd_(matrix.rows()), blockStart_(0) {
@ -92,16 +101,19 @@ public:
assertInvariants();
}
/** Copy the block structure and resize the underlying matrix, but do not copy the matrix data.
* If blockStart(), rowStart(), and/or rowEnd() have been modified, this copies the structure of
* the corresponding matrix view. In the destination VerticalBlockView, blockStart() and
* rowStart() will thus be 0, rowEnd() will be cols() of the source VerticalBlockView, and the
* underlying matrix will be the size of the view of the source matrix. */
/**
* Copy the block structure and resize the underlying matrix, but do not copy
* the matrix data. If blockStart(), rowStart(), and/or rowEnd() have been
* modified, this copies the structure of the corresponding matrix view. In the
* destination VerticalBlockView, blockStart() and rowStart() will thus be 0,
* rowEnd() will be cols() of the source VerticalBlockView, and the
* underlying matrix will be the size of the view of the source matrix.
*/
static VerticalBlockMatrix LikeActiveViewOf(const VerticalBlockMatrix& rhs);
/** Copy the block structure, but do not copy the matrix data. If blockStart() has been
* modified, this copies the structure of the corresponding matrix view. In the destination
* VerticalBlockMatrix, blockStart() will be 0. */
/** Copy the block structure, but do not copy the matrix data. If blockStart()
* has been modified, this copies the structure of the corresponding matrix
* view. In the destination VerticalBlockMatrix, blockStart() will be 0. */
static VerticalBlockMatrix LikeActiveViewOf(const SymmetricBlockMatrix& rhs,
DenseIndex height);
@ -161,12 +173,14 @@ public:
rangeCols);
}
/** Return the full matrix, *not* including any portions excluded by rowStart(), rowEnd(), and firstBlock() */
/** Return the full matrix, *not* including any portions excluded by
* rowStart(), rowEnd(), and firstBlock() */
Block full() {
return range(0, nBlocks());
}
/** Return the full matrix, *not* including any portions excluded by rowStart(), rowEnd(), and firstBlock() */
/** Return the full matrix, *not* including any portions excluded by
* rowStart(), rowEnd(), and firstBlock() */
const constBlock full() const {
return range(0, nBlocks());
}
@ -178,17 +192,19 @@ public:
return variableColOffsets_[actualBlock];
}
/** Get or set the apparent first row of the underlying matrix for all operations */
/// Get/set the apparent first row of the underlying matrix for all operations
DenseIndex& rowStart() {
return rowStart_;
}
/** Get or set the apparent last row (exclusive, i.e. rows() == rowEnd() - rowStart()) of the underlying matrix for all operations */
/** Get/set the apparent last row
* (exclusive, i.e. rows() == rowEnd() - rowStart())
* of the underlying matrix for all operations */
DenseIndex& rowEnd() {
return rowEnd_;
}
/** Get or set the apparent first block for all operations */
/** Get/set the apparent first block for all operations */
DenseIndex& firstBlock() {
return blockStart_;
}
@ -198,7 +214,8 @@ public:
return rowStart_;
}
/** Get the apparent last row (exclusive, i.e. rows() == rowEnd() - rowStart()) of the underlying matrix for all operations */
/** Get the apparent last row (exclusive, i.e. rows() == rowEnd() - rowStart())
* of the underlying matrix for all operations */
DenseIndex rowEnd() const {
return rowEnd_;
}
@ -208,12 +225,14 @@ public:
return blockStart_;
}
/** Access to full matrix (*including* any portions excluded by rowStart(), rowEnd(), and firstBlock()) */
/** Access to full matrix (*including* any portions excluded by rowStart(),
* rowEnd(), and firstBlock()) */
const Matrix& matrix() const {
return matrix_;
}
/** Non-const access to full matrix (*including* any portions excluded by rowStart(), rowEnd(), and firstBlock()) */
/** Non-const access to full matrix (*including* any portions excluded by
* rowStart(), rowEnd(), and firstBlock()) */
Matrix& matrix() {
return matrix_;
}