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Fixed problems in block matrices

release/4.3a0
Richard Roberts 2013-08-02 22:09:27 +00:00
parent 29e450dc00
commit 7c54de5cab
4 changed files with 22 additions and 20 deletions
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10
gtsam/base/SymmetricBlockMatrix.cpp
View File

@ -26,8 +26,9 @@ namespace gtsam {
{
SymmetricBlockMatrix result;
result.variableColOffsets_.resize(other.nBlocks() + 1);
std::copy(other.variableColOffsets_.begin() + other.blockStart_, other.variableColOffsets_.end(),
result.variableColOffsets_.begin());
for(size_t i = 0; i < result.variableColOffsets_.size(); ++i)
result.variableColOffsets_[i] =
other.variableColOffsets_[other.blockStart_ + i] - other.variableColOffsets_[other.blockStart_];
result.matrix_.resize(other.cols(), other.cols());
result.assertInvariants();
return result;
@ -38,8 +39,9 @@ namespace gtsam {
{
SymmetricBlockMatrix result;
result.variableColOffsets_.resize(other.nBlocks() + 1);
std::copy(other.variableColOffsets_.begin() + other.blockStart_, other.variableColOffsets_.end(),
result.variableColOffsets_.begin());
for(size_t i = 0; i < result.variableColOffsets_.size(); ++i)
result.variableColOffsets_[i] =
other.variableColOffsets_[other.blockStart_ + i] - other.variableColOffsets_[other.blockStart_];
result.matrix_.resize(other.cols(), other.cols());
result.assertInvariants();
return result;

6
gtsam/base/SymmetricBlockMatrix.h
View File

@ -59,7 +59,7 @@ namespace gtsam {
/** Construct from a container of the sizes of each block. */
template<typename CONTAINER>
SymmetricBlockMatrix(const CONTAINER dimensions) :
SymmetricBlockMatrix(const CONTAINER& dimensions) :
blockStart_(0)
{
fillOffsets(dimensions.begin(), dimensions.end());
@ -80,7 +80,7 @@ namespace gtsam {
/** Construct from a container of the sizes of each vertical block and a pre-prepared matrix. */
template<typename CONTAINER>
SymmetricBlockMatrix(const CONTAINER dimensions, const Matrix& matrix) :
SymmetricBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix) :
matrix_(matrix), blockStart_(0)
{
fillOffsets(dimensions.begin(), dimensions.end());
@ -147,8 +147,6 @@ namespace gtsam {
DenseIndex i_actualEndBlock = i_endBlock + blockStart_;
DenseIndex j_actualStartBlock = j_startBlock + blockStart_;
DenseIndex j_actualEndBlock = j_endBlock + blockStart_;
checkBlock(i_actualStartBlock);
checkBlock(j_actualStartBlock);
if(i_startBlock != 0 || i_endBlock != 0) {
checkBlock(i_actualStartBlock);
assert(i_actualEndBlock < (DenseIndex)variableColOffsets_.size());

22
gtsam/base/VerticalBlockMatrix.cpp
View File

@ -22,25 +22,27 @@
namespace gtsam {
/* ************************************************************************* */
VerticalBlockMatrix VerticalBlockMatrix::LikeActiveViewOf(const VerticalBlockMatrix& rhs)
VerticalBlockMatrix VerticalBlockMatrix::LikeActiveViewOf(const VerticalBlockMatrix& other)
{
VerticalBlockMatrix result;
result.variableColOffsets_.resize(rhs.nBlocks() + 1);
std::copy(rhs.variableColOffsets_.begin() + rhs.blockStart_, rhs.variableColOffsets_.end(),
result.variableColOffsets_.begin());
result.matrix_.resize(rhs.rows(), result.variableColOffsets_.back());
result.rowEnd_ = rhs.rows();
result.variableColOffsets_.resize(other.nBlocks() + 1);
for(size_t i = 0; i < result.variableColOffsets_.size(); ++i)
result.variableColOffsets_[i] =
other.variableColOffsets_[other.blockStart_ + i] - other.variableColOffsets_[other.blockStart_];
result.matrix_.resize(other.rows(), result.variableColOffsets_.back());
result.rowEnd_ = other.rows();
result.assertInvariants();
return result;
}
/* ************************************************************************* */
VerticalBlockMatrix VerticalBlockMatrix::LikeActiveViewOf(const SymmetricBlockMatrix& rhs, DenseIndex height)
VerticalBlockMatrix VerticalBlockMatrix::LikeActiveViewOf(const SymmetricBlockMatrix& other, DenseIndex height)
{
VerticalBlockMatrix result;
result.variableColOffsets_.resize(rhs.nBlocks() + 1);
std::copy(rhs.variableColOffsets_.begin() + rhs.blockStart_, rhs.variableColOffsets_.end(),
result.variableColOffsets_.begin());
result.variableColOffsets_.resize(other.nBlocks() + 1);
for(size_t i = 0; i < result.variableColOffsets_.size(); ++i)
result.variableColOffsets_[i] =
other.variableColOffsets_[other.blockStart_ + i] - other.variableColOffsets_[other.blockStart_];
result.matrix_.resize(height, result.variableColOffsets_.back());
result.rowEnd_ = height;
result.assertInvariants();

4
gtsam/base/VerticalBlockMatrix.h
View File

@ -64,7 +64,7 @@ namespace gtsam {
/** Construct from a container of the sizes of each vertical block. */
template<typename CONTAINER>
VerticalBlockMatrix(const CONTAINER dimensions, DenseIndex height) :
VerticalBlockMatrix(const CONTAINER& dimensions, DenseIndex height) :
rowStart_(0), rowEnd_(height), blockStart_(0)
{
fillOffsets(dimensions.begin(), dimensions.end());
@ -74,7 +74,7 @@ namespace gtsam {
/** 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) :
VerticalBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix) :
matrix_(matrix), rowStart_(0), rowEnd_(matrix.rows()), blockStart_(0)
{
fillOffsets(dimensions.begin(), dimensions.end());