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Format using BORG conventions

release/4.3a0
dellaert 2014-02-15 11:47:30 -05:00
parent 6a8084ee02
commit b7cbc7a66f
1 changed files with 67 additions and 63 deletions
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28
gtsam/base/SymmetricBlockMatrix.cpp
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@ -24,37 +24,38 @@
namespace gtsam { namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
SymmetricBlockMatrix SymmetricBlockMatrix::LikeActiveViewOf(const SymmetricBlockMatrix& other) SymmetricBlockMatrix SymmetricBlockMatrix::LikeActiveViewOf(
{ const SymmetricBlockMatrix& other) {
SymmetricBlockMatrix result; SymmetricBlockMatrix result;
result.variableColOffsets_.resize(other.nBlocks() + 1); result.variableColOffsets_.resize(other.nBlocks() + 1);
for (size_t i = 0; i < result.variableColOffsets_.size(); ++i) for (size_t i = 0; i < result.variableColOffsets_.size(); ++i)
result.variableColOffsets_[i] = result.variableColOffsets_[i] = other.variableColOffsets_[other.blockStart_
other.variableColOffsets_[other.blockStart_ + i] - other.variableColOffsets_[other.blockStart_]; + i] - other.variableColOffsets_[other.blockStart_];
result.matrix_.resize(other.cols(), other.cols()); result.matrix_.resize(other.cols(), other.cols());
result.assertInvariants(); result.assertInvariants();
return result; return result;
} }
/* ************************************************************************* */ /* ************************************************************************* */
SymmetricBlockMatrix SymmetricBlockMatrix::LikeActiveViewOf(const VerticalBlockMatrix& other) SymmetricBlockMatrix SymmetricBlockMatrix::LikeActiveViewOf(
{ const VerticalBlockMatrix& other) {
SymmetricBlockMatrix result; SymmetricBlockMatrix result;
result.variableColOffsets_.resize(other.nBlocks() + 1); result.variableColOffsets_.resize(other.nBlocks() + 1);
for (size_t i = 0; i < result.variableColOffsets_.size(); ++i) for (size_t i = 0; i < result.variableColOffsets_.size(); ++i)
result.variableColOffsets_[i] = result.variableColOffsets_[i] = other.variableColOffsets_[other.blockStart_
other.variableColOffsets_[other.blockStart_ + i] - other.variableColOffsets_[other.blockStart_]; + i] - other.variableColOffsets_[other.blockStart_];
result.matrix_.resize(other.cols(), other.cols()); result.matrix_.resize(other.cols(), other.cols());
result.assertInvariants(); result.assertInvariants();
return result; return result;
} }
/* ************************************************************************* */ /* ************************************************************************* */
VerticalBlockMatrix SymmetricBlockMatrix::choleskyPartial(DenseIndex nFrontals) VerticalBlockMatrix SymmetricBlockMatrix::choleskyPartial(
{ DenseIndex nFrontals) {
// Do dense elimination // Do dense elimination
if (!blockStart() == 0) if (!blockStart() == 0)
throw std::invalid_argument("Can only do Cholesky when the SymmetricBlockMatrix is not a restricted view, i.e. when blockStart == 0."); throw std::invalid_argument(
"Can only do Cholesky when the SymmetricBlockMatrix is not a restricted view, i.e. when blockStart == 0.");
if (!gtsam::choleskyPartial(matrix_, offset(nFrontals))) if (!gtsam::choleskyPartial(matrix_, offset(nFrontals)))
throw CholeskyFailed(); throw CholeskyFailed();
@ -75,4 +76,7 @@ namespace gtsam {
return Ab; return Ab;
} }
} /* ************************************************************************* */
} //\ namespace gtsam