Format using BORG conventions
dellaert
parent
b7cbc7a66f
commit
99947c7c6d
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@ -22,209 +22,242 @@
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namespace gtsam {
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// Forward declarations
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class SymmetricBlockMatrix;
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// Forward declarations
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class SymmetricBlockMatrix;
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/**
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* This class stores a dense matrix and allows it to be accessed as a collection of vertical
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* blocks. The dimensions of the blocks are provided when constructing this class.
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*
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* This class also has three parameters that can be changed after construction that change the
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* apparent view of the matrix without any reallocation or data copying. firstBlock() determines
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* the block that has index 0 for all operations (except for re-setting firstBlock()). rowStart()
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* determines the apparent first row of the matrix for all operations (except for setting
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* rowStart() and rowEnd()). rowEnd() determines the apparent exclusive (one-past-the-last) last
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* row for all operations. To include all rows, rowEnd() should be set to the number of rows in
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* the matrix (i.e. one after the last true row index).
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*
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* @addtogroup base */
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class GTSAM_EXPORT VerticalBlockMatrix {
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public:
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typedef VerticalBlockMatrix This;
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typedef Eigen::Block<Matrix> Block;
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typedef Eigen::Block<const Matrix> constBlock;
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protected:
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Matrix matrix_; ///< The full matrix
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FastVector<DenseIndex> variableColOffsets_; ///< the starting columns of each block (0-based)
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DenseIndex rowStart_; ///< Changes apparent matrix view, see main class comment.
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DenseIndex rowEnd_; ///< Changes apparent matrix view, see main class comment.
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DenseIndex blockStart_; ///< Changes apparent matrix view, see main class comment.
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public:
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/** Construct an empty VerticalBlockMatrix */
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VerticalBlockMatrix() :
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rowStart_(0), rowEnd_(0), blockStart_(0) {
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variableColOffsets_.push_back(0);
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assertInvariants();
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}
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/** Construct from a container of the sizes of each vertical block. */
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template<typename CONTAINER>
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VerticalBlockMatrix(const CONTAINER& dimensions, DenseIndex height) :
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rowStart_(0), rowEnd_(height), blockStart_(0) {
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fillOffsets(dimensions.begin(), dimensions.end());
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matrix_.resize(height, variableColOffsets_.back());
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assertInvariants();
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}
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/** Construct from a container of the sizes of each vertical block and a pre-prepared matrix. */
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template<typename CONTAINER>
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VerticalBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix) :
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matrix_(matrix), rowStart_(0), rowEnd_(matrix.rows()), blockStart_(0) {
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fillOffsets(dimensions.begin(), dimensions.end());
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if (variableColOffsets_.back() != matrix_.cols())
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throw std::invalid_argument(
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"Requested to create a VerticalBlockMatrix with dimensions that do not sum to the total columns of the provided matrix.");
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assertInvariants();
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}
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/**
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* This class stores a dense matrix and allows it to be accessed as a collection of vertical
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* blocks. The dimensions of the blocks are provided when constructing this class.
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*
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* This class also has three parameters that can be changed after construction that change the
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* apparent view of the matrix without any reallocation or data copying. firstBlock() determines
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* the block that has index 0 for all operations (except for re-setting firstBlock()). rowStart()
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* determines the apparent first row of the matrix for all operations (except for setting
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* rowStart() and rowEnd()). rowEnd() determines the apparent exclusive (one-past-the-last) last
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* row for all operations. To include all rows, rowEnd() should be set to the number of rows in
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* the matrix (i.e. one after the last true row index).
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*
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* @addtogroup base */
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class GTSAM_EXPORT VerticalBlockMatrix
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{
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public:
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typedef VerticalBlockMatrix This;
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typedef Eigen::Block<Matrix> Block;
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typedef Eigen::Block<const Matrix> constBlock;
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* Construct from iterator over the sizes of each vertical block. */
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template<typename ITERATOR>
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VerticalBlockMatrix(ITERATOR firstBlockDim, ITERATOR lastBlockDim,
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DenseIndex height) :
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rowStart_(0), rowEnd_(height), blockStart_(0) {
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fillOffsets(firstBlockDim, lastBlockDim);
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matrix_.resize(height, variableColOffsets_.back());
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assertInvariants();
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}
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protected:
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Matrix matrix_; ///< The full matrix
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FastVector<DenseIndex> variableColOffsets_; ///< the starting columns of each block (0-based)
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/** Copy the block structure and resize the underlying matrix, but do not copy the matrix data.
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* If blockStart(), rowStart(), and/or rowEnd() have been modified, this copies the structure of
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* the corresponding matrix view. In the destination VerticalBlockView, blockStart() and
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* rowStart() will thus be 0, rowEnd() will be cols() of the source VerticalBlockView, and the
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* underlying matrix will be the size of the view of the source matrix. */
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static VerticalBlockMatrix LikeActiveViewOf(const VerticalBlockMatrix& rhs);
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DenseIndex rowStart_; ///< Changes apparent matrix view, see main class comment.
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DenseIndex rowEnd_; ///< Changes apparent matrix view, see main class comment.
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DenseIndex blockStart_; ///< Changes apparent matrix view, see main class comment.
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/** Copy the block structure, but do not copy the matrix data. If blockStart() has been
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* modified, this copies the structure of the corresponding matrix view. In the destination
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* VerticalBlockMatrix, blockStart() will be 0. */
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static VerticalBlockMatrix LikeActiveViewOf(const SymmetricBlockMatrix& rhs,
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DenseIndex height);
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public:
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/// Row size
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DenseIndex rows() const {
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assertInvariants();
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return rowEnd_ - rowStart_;
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}
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/** Construct an empty VerticalBlockMatrix */
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VerticalBlockMatrix() :
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rowStart_(0), rowEnd_(0), blockStart_(0)
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{
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variableColOffsets_.push_back(0);
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assertInvariants();
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/// Column size
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DenseIndex cols() const {
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assertInvariants();
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return variableColOffsets_.back() - variableColOffsets_[blockStart_];
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}
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/// Block count
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DenseIndex nBlocks() const {
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assertInvariants();
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return variableColOffsets_.size() - 1 - blockStart_;
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}
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/** Access a single block in the underlying matrix with read/write access */
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Block operator()(DenseIndex block) {
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return range(block, block + 1);
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}
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/** Access a const block view */
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const constBlock operator()(DenseIndex block) const {
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return range(block, block + 1);
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}
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/** access ranges of blocks at a time */
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Block range(DenseIndex startBlock, DenseIndex endBlock) {
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assertInvariants();
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DenseIndex actualStartBlock = startBlock + blockStart_;
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DenseIndex actualEndBlock = endBlock + blockStart_;
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if (startBlock != 0 || endBlock != 0) {
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checkBlock(actualStartBlock);
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assert(actualEndBlock < (DenseIndex)variableColOffsets_.size());
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}
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const DenseIndex startCol = variableColOffsets_[actualStartBlock];
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const DenseIndex rangeCols = variableColOffsets_[actualEndBlock] - startCol;
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return matrix_.block(rowStart_, startCol, this->rows(), rangeCols);
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}
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/** Construct from a container of the sizes of each vertical block. */
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template<typename CONTAINER>
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VerticalBlockMatrix(const CONTAINER& dimensions, DenseIndex height) :
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rowStart_(0), rowEnd_(height), blockStart_(0)
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{
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fillOffsets(dimensions.begin(), dimensions.end());
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matrix_.resize(height, variableColOffsets_.back());
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assertInvariants();
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const constBlock range(DenseIndex startBlock, DenseIndex endBlock) const {
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assertInvariants();
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DenseIndex actualStartBlock = startBlock + blockStart_;
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DenseIndex actualEndBlock = endBlock + blockStart_;
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if (startBlock != 0 || endBlock != 0) {
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checkBlock(actualStartBlock);
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assert(actualEndBlock < (DenseIndex)variableColOffsets_.size());
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}
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const DenseIndex startCol = variableColOffsets_[actualStartBlock];
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const DenseIndex rangeCols = variableColOffsets_[actualEndBlock] - startCol;
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return ((const Matrix&) matrix_).block(rowStart_, startCol, this->rows(),
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rangeCols);
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}
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/** Construct from a container of the sizes of each vertical block and a pre-prepared matrix. */
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template<typename CONTAINER>
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VerticalBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix) :
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matrix_(matrix), rowStart_(0), rowEnd_(matrix.rows()), blockStart_(0)
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{
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fillOffsets(dimensions.begin(), dimensions.end());
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if(variableColOffsets_.back() != matrix_.cols())
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throw std::invalid_argument("Requested to create a VerticalBlockMatrix with dimensions that do not sum to the total columns of the provided matrix.");
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assertInvariants();
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/** Return the full matrix, *not* including any portions excluded by rowStart(), rowEnd(), and firstBlock() */
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Block full() {
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return range(0, nBlocks());
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}
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/** Return the full matrix, *not* including any portions excluded by rowStart(), rowEnd(), and firstBlock() */
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const constBlock full() const {
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return range(0, nBlocks());
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}
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DenseIndex offset(DenseIndex block) const {
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assertInvariants();
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DenseIndex actualBlock = block + blockStart_;
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checkBlock(actualBlock);
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return variableColOffsets_[actualBlock];
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}
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/** Get or set the apparent first row of the underlying matrix for all operations */
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DenseIndex& rowStart() {
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return rowStart_;
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}
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/** Get or set the apparent last row (exclusive, i.e. rows() == rowEnd() - rowStart()) of the underlying matrix for all operations */
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DenseIndex& rowEnd() {
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return rowEnd_;
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}
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/** Get or set the apparent first block for all operations */
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DenseIndex& firstBlock() {
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return blockStart_;
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}
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/** Get the apparent first row of the underlying matrix for all operations */
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DenseIndex rowStart() const {
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return rowStart_;
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}
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/** Get the apparent last row (exclusive, i.e. rows() == rowEnd() - rowStart()) of the underlying matrix for all operations */
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DenseIndex rowEnd() const {
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return rowEnd_;
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}
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/** Get the apparent first block for all operations */
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DenseIndex firstBlock() const {
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return blockStart_;
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}
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/** Access to full matrix (*including* any portions excluded by rowStart(), rowEnd(), and firstBlock()) */
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const Matrix& matrix() const {
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return matrix_;
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}
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/** Non-const access to full matrix (*including* any portions excluded by rowStart(), rowEnd(), and firstBlock()) */
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Matrix& matrix() {
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return matrix_;
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}
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protected:
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void assertInvariants() const {
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assert(matrix_.cols() == variableColOffsets_.back());
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assert(blockStart_ < (DenseIndex)variableColOffsets_.size());
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assert(rowStart_ <= matrix_.rows());
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assert(rowEnd_ <= matrix_.rows());
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assert(rowStart_ <= rowEnd_);
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}
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void checkBlock(DenseIndex block) const {
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assert(matrix_.cols() == variableColOffsets_.back());
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assert(block < (DenseIndex)variableColOffsets_.size() - 1);
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assert(
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variableColOffsets_[block] < matrix_.cols() && variableColOffsets_[block+1] <= matrix_.cols());
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}
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template<typename ITERATOR>
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void fillOffsets(ITERATOR firstBlockDim, ITERATOR lastBlockDim) {
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variableColOffsets_.resize((lastBlockDim - firstBlockDim) + 1);
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variableColOffsets_[0] = 0;
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DenseIndex j = 0;
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for (ITERATOR dim = firstBlockDim; dim != lastBlockDim; ++dim) {
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variableColOffsets_[j + 1] = variableColOffsets_[j] + *dim;
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++j;
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}
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}
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/**
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* Construct from iterator over the sizes of each vertical block. */
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template<typename ITERATOR>
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VerticalBlockMatrix(ITERATOR firstBlockDim, ITERATOR lastBlockDim, DenseIndex height) :
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rowStart_(0), rowEnd_(height), blockStart_(0)
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{
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fillOffsets(firstBlockDim, lastBlockDim);
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matrix_.resize(height, variableColOffsets_.back());
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assertInvariants();
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}
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friend class SymmetricBlockMatrix;
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/** Copy the block structure and resize the underlying matrix, but do not copy the matrix data.
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* If blockStart(), rowStart(), and/or rowEnd() have been modified, this copies the structure of
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* the corresponding matrix view. In the destination VerticalBlockView, blockStart() and
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* rowStart() will thus be 0, rowEnd() will be cols() of the source VerticalBlockView, and the
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* underlying matrix will be the size of the view of the source matrix. */
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static VerticalBlockMatrix LikeActiveViewOf(const VerticalBlockMatrix& rhs);
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/** Copy the block structure, but do not copy the matrix data. If blockStart() has been
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* modified, this copies the structure of the corresponding matrix view. In the destination
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* VerticalBlockMatrix, blockStart() will be 0. */
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static VerticalBlockMatrix LikeActiveViewOf(const SymmetricBlockMatrix& rhs, DenseIndex height);
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/// Row size
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DenseIndex rows() const { assertInvariants(); return rowEnd_ - rowStart_; }
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/// Column size
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DenseIndex cols() const { assertInvariants(); return variableColOffsets_.back() - variableColOffsets_[blockStart_]; }
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/// Block count
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DenseIndex nBlocks() const { assertInvariants(); return variableColOffsets_.size() - 1 - blockStart_; }
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/** Access a single block in the underlying matrix with read/write access */
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Block operator()(DenseIndex block) { return range(block, block+1); }
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/** Access a const block view */
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const constBlock operator()(DenseIndex block) const { return range(block, block+1); }
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/** access ranges of blocks at a time */
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Block range(DenseIndex startBlock, DenseIndex endBlock) {
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assertInvariants();
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DenseIndex actualStartBlock = startBlock + blockStart_;
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DenseIndex actualEndBlock = endBlock + blockStart_;
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if(startBlock != 0 || endBlock != 0) {
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checkBlock(actualStartBlock);
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assert(actualEndBlock < (DenseIndex)variableColOffsets_.size());
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}
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const DenseIndex startCol = variableColOffsets_[actualStartBlock];
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const DenseIndex rangeCols = variableColOffsets_[actualEndBlock] - startCol;
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return matrix_.block(rowStart_, startCol, this->rows(), rangeCols);
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}
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const constBlock range(DenseIndex startBlock, DenseIndex endBlock) const {
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assertInvariants();
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DenseIndex actualStartBlock = startBlock + blockStart_;
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DenseIndex actualEndBlock = endBlock + blockStart_;
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if(startBlock != 0 || endBlock != 0) {
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checkBlock(actualStartBlock);
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assert(actualEndBlock < (DenseIndex)variableColOffsets_.size());
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}
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const DenseIndex startCol = variableColOffsets_[actualStartBlock];
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const DenseIndex rangeCols = variableColOffsets_[actualEndBlock] - startCol;
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return ((const Matrix&)matrix_).block(rowStart_, startCol, this->rows(), rangeCols);
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}
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/** Return the full matrix, *not* including any portions excluded by rowStart(), rowEnd(), and firstBlock() */
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Block full() { return range(0, nBlocks()); }
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/** Return the full matrix, *not* including any portions excluded by rowStart(), rowEnd(), and firstBlock() */
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const constBlock full() const { return range(0, nBlocks()); }
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DenseIndex offset(DenseIndex block) const {
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assertInvariants();
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DenseIndex actualBlock = block + blockStart_;
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checkBlock(actualBlock);
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return variableColOffsets_[actualBlock];
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}
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/** Get or set the apparent first row of the underlying matrix for all operations */
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DenseIndex& rowStart() { return rowStart_; }
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/** Get or set the apparent last row (exclusive, i.e. rows() == rowEnd() - rowStart()) of the underlying matrix for all operations */
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DenseIndex& rowEnd() { return rowEnd_; }
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/** Get or set the apparent first block for all operations */
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DenseIndex& firstBlock() { return blockStart_; }
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/** Get the apparent first row of the underlying matrix for all operations */
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DenseIndex rowStart() const { return rowStart_; }
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/** Get the apparent last row (exclusive, i.e. rows() == rowEnd() - rowStart()) of the underlying matrix for all operations */
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DenseIndex rowEnd() const { return rowEnd_; }
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/** Get the apparent first block for all operations */
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DenseIndex firstBlock() const { return blockStart_; }
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/** Access to full matrix (*including* any portions excluded by rowStart(), rowEnd(), and firstBlock()) */
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const Matrix& matrix() const { return matrix_; }
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/** Non-const access to full matrix (*including* any portions excluded by rowStart(), rowEnd(), and firstBlock()) */
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Matrix& matrix() { return matrix_; }
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protected:
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void assertInvariants() const {
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assert(matrix_.cols() == variableColOffsets_.back());
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assert(blockStart_ < (DenseIndex)variableColOffsets_.size());
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assert(rowStart_ <= matrix_.rows());
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assert(rowEnd_ <= matrix_.rows());
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assert(rowStart_ <= rowEnd_);
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}
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void checkBlock(DenseIndex block) const {
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assert(matrix_.cols() == variableColOffsets_.back());
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assert(block < (DenseIndex)variableColOffsets_.size() - 1);
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assert(variableColOffsets_[block] < matrix_.cols() && variableColOffsets_[block+1] <= matrix_.cols());
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}
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template<typename ITERATOR>
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void fillOffsets(ITERATOR firstBlockDim, ITERATOR lastBlockDim) {
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variableColOffsets_.resize((lastBlockDim-firstBlockDim)+1);
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variableColOffsets_[0] = 0;
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DenseIndex j=0;
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for(ITERATOR dim=firstBlockDim; dim!=lastBlockDim; ++dim) {
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variableColOffsets_[j+1] = variableColOffsets_[j] + *dim;
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++ j;
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}
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}
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friend class SymmetricBlockMatrix;
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int version) {
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ar & BOOST_SERIALIZATION_NVP(matrix_);
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ar & BOOST_SERIALIZATION_NVP(variableColOffsets_);
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ar & BOOST_SERIALIZATION_NVP(rowStart_);
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ar & BOOST_SERIALIZATION_NVP(rowEnd_);
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ar & BOOST_SERIALIZATION_NVP(blockStart_);
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}
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};
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int version) {
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ar & BOOST_SERIALIZATION_NVP(matrix_);
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ar & BOOST_SERIALIZATION_NVP(variableColOffsets_);
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ar & BOOST_SERIALIZATION_NVP(rowStart_);
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ar & BOOST_SERIALIZATION_NVP(rowEnd_);
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ar & BOOST_SERIALIZATION_NVP(blockStart_);
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}
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};
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}
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