41 lines
1.0 KiB
C++
41 lines
1.0 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/*
|
|
* SPQRUtil.h
|
|
*
|
|
* Created on: Jul 1, 2010
|
|
* Author: nikai
|
|
* Description: the utility functions for SPQR
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <gtsam/base/Matrix.h>
|
|
|
|
#ifdef GT_USE_LAPACK
|
|
extern "C" {
|
|
#include <cholmod.h>
|
|
}
|
|
#include <spqr.hpp>
|
|
|
|
namespace gtsam {
|
|
|
|
/** make stairs and speed up householder_spqr. Stair is defined as the row index of where zero entries start in each column */
|
|
long* MakeStairs(Matrix &A);
|
|
|
|
/** Householder tranformation, zeros below diagonal */
|
|
void householder_spqr(Matrix &A, long* Stair = NULL);
|
|
|
|
void householder_spqr_colmajor(boost::numeric::ublas::matrix<double, boost::numeric::ublas::column_major>& A, long *Stair);
|
|
}
|
|
#endif
|