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SVD removed from Matrix.h

release/4.3a0
alexhagiopol 2015-02-23 18:45:25 -05:00
parent 7dca1d76a5
commit 3f4558cacb
2 changed files with 18 additions and 17 deletions
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16
gtsam/base/Matrix.cpp
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@ -32,6 +32,9 @@
#include <fstream> #include <fstream>
#include <limits> #include <limits>
#include <gtsam/3rdparty/Eigen/Eigen/SVD>
#include <gtsam/3rdparty/Eigen/Eigen/LU>
using namespace std; using namespace std;
namespace gtsam { namespace gtsam {
@ -697,6 +700,19 @@ std::string formatMatrixIndented(const std::string& label, const Matrix& matrix,
return ss.str(); return ss.str();
} }
void inplace_QR(Matrix& A){
size_t rows = A.rows();
size_t cols = A.cols();
size_t size = std::min(rows,cols);
typedef Eigen::internal::plain_diag_type<Matrix>::type HCoeffsType;
typedef Eigen::internal::plain_row_type<Matrix>::type RowVectorType;
HCoeffsType hCoeffs(size);
RowVectorType temp(cols);
Eigen::internal::householder_qr_inplace_blocked<Matrix, HCoeffsType>::run(A, hCoeffs, 48, temp.data());
zeroBelowDiagonal(A);
}
} // namespace gtsam } // namespace gtsam

19
gtsam/base/Matrix.h
View File

@ -25,10 +25,8 @@
#include <boost/format.hpp> #include <boost/format.hpp>
#include <boost/tuple/tuple.hpp> #include <boost/tuple/tuple.hpp>
#include <boost/math/special_functions/fpclassify.hpp> #include <boost/math/special_functions/fpclassify.hpp>
#include <gtsam/3rdparty/Eigen/Eigen/Core> #include <gtsam/3rdparty/Eigen/Eigen/Core>
#include <gtsam/3rdparty/Eigen/Eigen/Cholesky> #include <gtsam/3rdparty/Eigen/Eigen/Cholesky>
#include <gtsam/3rdparty/Eigen/Eigen/SVD>
#include <gtsam/3rdparty/Eigen/Eigen/LU> #include <gtsam/3rdparty/Eigen/Eigen/LU>
@ -372,21 +370,8 @@ GTSAM_EXPORT std::pair<Matrix,Matrix> qr(const Matrix& A);
* @param A is the input matrix, and is the output * @param A is the input matrix, and is the output
* @param clear_below_diagonal enables zeroing out below diagonal * @param clear_below_diagonal enables zeroing out below diagonal
*/ */
template <class MATRIX> //template <class MATRIX>
void inplace_QR(MATRIX& A) { void inplace_QR(Matrix& A);
size_t rows = A.rows();
size_t cols = A.cols();
size_t size = std::min(rows,cols);
typedef Eigen::internal::plain_diag_type<Matrix>::type HCoeffsType;
typedef Eigen::internal::plain_row_type<Matrix>::type RowVectorType;
HCoeffsType hCoeffs(size);
RowVectorType temp(cols);
Eigen::internal::householder_qr_inplace_blocked<MATRIX, HCoeffsType>::run(A, hCoeffs, 48, temp.data());
zeroBelowDiagonal(A);
}
/** /**
* Imperative algorithm for in-place full elimination with * Imperative algorithm for in-place full elimination with