12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
gtsam/base/SymmetricBlockMatrix.cpp
View File

@ -24,37 +24,38 @@
namespace gtsam {
/* ************************************************************************* */
SymmetricBlockMatrix SymmetricBlockMatrix::LikeActiveViewOf(const SymmetricBlockMatrix& other)
{
SymmetricBlockMatrix SymmetricBlockMatrix::LikeActiveViewOf(
const SymmetricBlockMatrix& other) {
SymmetricBlockMatrix result;
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.variableColOffsets_[i] = other.variableColOffsets_[other.blockStart_
+ i] - other.variableColOffsets_[other.blockStart_];
result.matrix_.resize(other.cols(), other.cols());
result.assertInvariants();
return result;
}
/* ************************************************************************* */
SymmetricBlockMatrix SymmetricBlockMatrix::LikeActiveViewOf(const VerticalBlockMatrix& other)
{
SymmetricBlockMatrix SymmetricBlockMatrix::LikeActiveViewOf(
const VerticalBlockMatrix& other) {
SymmetricBlockMatrix result;
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.variableColOffsets_[i] = other.variableColOffsets_[other.blockStart_
+ i] - other.variableColOffsets_[other.blockStart_];
result.matrix_.resize(other.cols(), other.cols());
result.assertInvariants();
return result;
}
/* ************************************************************************* */
VerticalBlockMatrix SymmetricBlockMatrix::choleskyPartial(DenseIndex nFrontals)
{
VerticalBlockMatrix SymmetricBlockMatrix::choleskyPartial(
DenseIndex nFrontals) {
// Do dense elimination
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)))
throw CholeskyFailed();
@ -75,4 +76,7 @@ namespace gtsam {
return Ab;
}
}
/* ************************************************************************* */
} //\ namespace gtsam