Public Member Functions
	SymmetricBlockMatrix ()
	Construct from an empty matrix (asserts that the matrix is empty)

template<typename CONTAINER >
	SymmetricBlockMatrix (const CONTAINER &dimensions, bool appendOneDimension=false)
	Construct from a container of the sizes of each block.

template<typename ITERATOR >
	SymmetricBlockMatrix (ITERATOR firstBlockDim, ITERATOR lastBlockDim, bool appendOneDimension=false)
	Construct from iterator over the sizes of each vertical block.

template<typename CONTAINER >
	SymmetricBlockMatrix (const CONTAINER &dimensions, const Matrix &matrix, bool appendOneDimension=false)
	Construct from a container of the sizes of each vertical block and a pre-prepared matrix.

DenseIndex	rows () const
	Row size.

DenseIndex	cols () const
	Column size.

DenseIndex	nBlocks () const
	Block count.

DenseIndex	getDim (DenseIndex block) const
	Number of dimensions for variable on this diagonal block.

DenseIndex &	blockStart ()
	Retrieve or modify the first logical block, i.e. More...

DenseIndex	blockStart () const
	Retrieve the first logical block, i.e. More...

void	choleskyPartial (DenseIndex nFrontals)
	Given the augmented Hessian [A1'A1 A1'A2 A1'b A2'A1 A2'A2 A2'b b'A1 b'A2 b'b] on x1 and x2, does partial Cholesky in-place to obtain [R Sd;0 L] such that R'R = A1'A1 R'Sd = [A1'A2 A1'b] L'L is the augmented Hessian on the the separator x2 R and Sd can be interpreted as a GaussianConditional \|Rx1 + Sx2 - d]^2.

VerticalBlockMatrix	split (DenseIndex nFrontals)
	After partial Cholesky, we can optionally split off R and Sd, to be interpreted as a GaussianConditional \|Rx1 + Sx2 - d]^2. More...

Block getter methods.
Matrix	block (DenseIndex I, DenseIndex J) const
	Get a copy of a block (anywhere in the matrix). More...

Eigen::SelfAdjointView< Block, Eigen::Upper >	diagonalBlock (DenseIndex J)
	Return the J'th diagonal block as a self adjoint view.

Eigen::SelfAdjointView< constBlock, Eigen::Upper >	diagonalBlock (DenseIndex J) const
	Return the J'th diagonal block as a self adjoint view.

Vector	diagonal (DenseIndex J) const
	Get the diagonal of the J'th diagonal block.

constBlock	aboveDiagonalBlock (DenseIndex I, DenseIndex J) const
	Get block above the diagonal (I, J).

Eigen::SelfAdjointView< constBlock, Eigen::Upper >	selfadjointView (DenseIndex I, DenseIndex J) const
	Return the square sub-matrix that contains blocks(i:j, i:j).

Eigen::TriangularView< constBlock, Eigen::Upper >	triangularView (DenseIndex I, DenseIndex J) const
	Return the square sub-matrix that contains blocks(i:j, i:j) as a triangular view.

constBlock	aboveDiagonalRange (DenseIndex i_startBlock, DenseIndex i_endBlock, DenseIndex j_startBlock, DenseIndex j_endBlock) const
	Get a range [i,j) from the matrix. Indices are in block units.

Block	aboveDiagonalRange (DenseIndex i_startBlock, DenseIndex i_endBlock, DenseIndex j_startBlock, DenseIndex j_endBlock)
	Get a range [i,j) from the matrix. Indices are in block units.

Block setter methods.
template<typename XprType >
void	setDiagonalBlock (DenseIndex I, const XprType &xpr)
	Set a diagonal block. Only the upper triangular portion of `xpr` is evaluated.

template<typename XprType >
void	setOffDiagonalBlock (DenseIndex I, DenseIndex J, const XprType &xpr)
	Set an off-diagonal block. Only the upper triangular portion of `xpr` is evaluated.

template<typename XprType >
void	updateDiagonalBlock (DenseIndex I, const XprType &xpr)
	Increment the diagonal block by the values in `xpr`. Only reads the upper triangular part of `xpr`.

template<typename XprType >
void	updateOffDiagonalBlock (DenseIndex I, DenseIndex J, const XprType &xpr)
	Update an off diagonal block. More...

Accessing the full matrix.
Eigen::SelfAdjointView< Block, Eigen::Upper >	selfadjointView ()
	Get self adjoint view.

Eigen::SelfAdjointView< constBlock, Eigen::Upper >	selfadjointView () const
	Get self adjoint view.

template<typename XprType >
void	setFullMatrix (const XprType &xpr)
	Set the entire active matrix. Only reads the upper triangular part of `xpr`.

void	setZero ()
	Set the entire active matrix zero.

void	negate ()
	Negate the entire active matrix.

void	invertInPlace ()
	Invert the entire active matrix in place.

Static Public Member Functions
static SymmetricBlockMatrix	LikeActiveViewOf (const SymmetricBlockMatrix &other)
	Copy the block structure, but do not copy the matrix data. More...

static SymmetricBlockMatrix	LikeActiveViewOf (const VerticalBlockMatrix &other)
	Copy the block structure, but do not copy the matrix data. More...

Public Types
typedef SymmetricBlockMatrix	This

typedef Eigen::Block< Matrix >	Block

typedef Eigen::Block< const Matrix >	constBlock

Protected Member Functions
DenseIndex	nOffsets () const
	Number of offsets in the full matrix.

DenseIndex	nActualBlocks () const
	Number of actual blocks in the full matrix.

DenseIndex	offset (DenseIndex block) const
	Get an offset for a block index (in the active view).

constBlock	block_ (DenseIndex iBlock, DenseIndex jBlock, DenseIndex blockRows=1, DenseIndex blockCols=1) const
	Get an arbitrary block from the matrix. Indices are in block units.

Block	block_ (DenseIndex iBlock, DenseIndex jBlock, DenseIndex blockRows=1, DenseIndex blockCols=1)
	Get an arbitrary block from the matrix. Indices are in block units.

constBlock	full () const
	Get the full matrix as a block.

Block	full ()
	Get the full matrix as a block.

std::array< DenseIndex, 4 >	calcIndices (DenseIndex iBlock, DenseIndex jBlock, DenseIndex blockRows, DenseIndex blockCols) const
	Compute the indices into the underlying matrix for a given block.

void	assertInvariants () const

template<typename ITERATOR >
void	fillOffsets (ITERATOR firstBlockDim, ITERATOR lastBlockDim, bool appendOneDimension)

Protected Attributes
Matrix	matrix_
	The full matrix.

FastVector< DenseIndex >	variableColOffsets_
	the starting columns of each block (0-based)

DenseIndex	blockStart_
	Changes apparent matrix view, see main class comment.

Friends
class	VerticalBlockMatrix

template<typename SymmetricBlockMatrixType >
class	SymmetricBlockMatrixBlockExpr

class	boost::serialization::access
	Serialization function.

Member Function Documentation

◆ block()

Matrix gtsam::SymmetricBlockMatrix::block	(	DenseIndex	I,
		DenseIndex	J
	)		const

Get a copy of a block (anywhere in the matrix).

This method makes a copy - use the methods below if performance is critical.

◆ blockStart() [1/2]

DenseIndex& gtsam::SymmetricBlockMatrix::blockStart ( )

inline

Retrieve or modify the first logical block, i.e.

the block referenced by block index 0. Blocks before it will be inaccessible, except by accessing the underlying matrix using matrix().

◆ blockStart() [2/2]

DenseIndex gtsam::SymmetricBlockMatrix::blockStart ( ) const

inline

Retrieve the first logical block, i.e.

the block referenced by block index 0. Blocks before it will be inaccessible, except by accessing the underlying matrix using matrix().

◆ LikeActiveViewOf() [1/2]

SymmetricBlockMatrix gtsam::SymmetricBlockMatrix::LikeActiveViewOf ( const SymmetricBlockMatrix & other )

static

Copy the block structure, but do not copy the matrix data.

If blockStart() has been modified, this copies the structure of the corresponding matrix view. In the destination SymmetricBlockMatrix, blockStart() will be 0.

◆ LikeActiveViewOf() [2/2]

SymmetricBlockMatrix gtsam::SymmetricBlockMatrix::LikeActiveViewOf ( const VerticalBlockMatrix & other )

static

Copy the block structure, but do not copy the matrix data.

If blockStart() has been modified, this copies the structure of the corresponding matrix view. In the destination SymmetricBlockMatrix, blockStart() will be 0.

◆ split()

VerticalBlockMatrix gtsam::SymmetricBlockMatrix::split ( DenseIndex nFrontals )

After partial Cholesky, we can optionally split off R and Sd, to be interpreted as a GaussianConditional |R*x1 + S*x2 - d]^2.

We leave the symmetric lower block L in place, and adjust block_start so now *this refers to it.

◆ updateOffDiagonalBlock()

template<typename XprType >

void gtsam::SymmetricBlockMatrix::updateOffDiagonalBlock	(	DenseIndex	I,
		DenseIndex	J,
		const XprType &	xpr
	)

inline

Update an off diagonal block.

NOTE(emmett): This assumes noalias().

The documentation for this class was generated from the following files:

/Users/dellaert/git/gtsam/gtsam/base/SymmetricBlockMatrix.h
/Users/dellaert/git/gtsam/gtsam/base/SymmetricBlockMatrix.cpp

Public Member Functions

Static Public Member Functions

Public Types

Protected Member Functions

Protected Attributes

Friends

Member Function Documentation

◆ block()

◆ blockStart() [1/2]

◆ blockStart() [2/2]

◆ LikeActiveViewOf() [1/2]

◆ LikeActiveViewOf() [2/2]

◆ split()

◆ updateOffDiagonalBlock()