Detailed Description

A sparse matrix capable of efficient math operations (a wrapper around the CSparse library) The type of cells is fixed to "double".

There are two main formats for the non-zero entries in this matrix:

A "triplet" matrix: a set of (r,c)=val triplet entries.
A column-compressed sparse matrix.

The latter is the "normal" format, which is expected by most mathematical operations defined in this class. There're two three ways of initializing and populating a sparse matrix:

As a triplet (empty), then add entries, then compress:

             CSparseMatrix  SM(100,100);
             SM.insert_entry(i,j, val);  // or
             SM.insert_submatrix(i,j, MAT); //  ...
             SM.compressFromTriplet();

As a triplet from a CSparseMatrixTemplate<double>:

             CSparseMatrixTemplate<double>  data;
             data(row,col) = val;
             ...
             CSparseMatrix  SM(data);

From an existing dense matrix:

             CMatrixDouble data(100,100); // or
             CMatrixFloat  data(100,100); // or
             CMatrixFixedNumeric<double,4,6>  data; // etc...
             CSparseMatrix  SM(data);

Due to its practical utility, there is a special inner class CSparseMatrix::CholeskyDecomp to handle Cholesky-related methods and data.

Note:: This class was initially adapted from "robotvision", by Hauke Strasdat, Steven Lovegrove and Andrew J. Davison. See http://www.openslam.org/robotvision.html; CSparse is maintained by Timothy Davis: http://people.sc.fsu.edu/~jburkardt/c_src/csparse/csparse.html .; See also his book "Direct methods for sparse linear systems". http://books.google.es/books?id=TvwiyF8vy3EC&pg=PA12&lpg=PA12&dq=cs_compress&source=bl&ots=od9uGJ793j&sig=Wa-fBk4sZkZv3Y0Op8FNH8PvCUs&hl=es&ei=UjA0TJf-EoSmsQay3aXPAw&sa=X&oi=book_result&ct=result&resnum=8&ved=0CEQQ6AEwBw#v=onepage&q&f=false

See also:: mrpt::math::CMatrixFixedNumeric, mrpt::math::CMatrixTemplateNumeric, etc.

#include <mrpt/math/CSparseMatrix.h>

List of all members.

Classes
class	CholeskyDecomp
	Auxiliary class to hold the results of a Cholesky factorization of a sparse matrix. More...
Public Member Functions
Constructors, destructor & copy operations
	CSparseMatrix (const size_t nRows=0, const size_t nCols=0)
	Create an initially empty sparse matrix, in the "triplet" form.
template<typename T >
	CSparseMatrix (const CSparseMatrixTemplate< T > &data)
	A good way to initialize a sparse matrix from a list of non NULL elements.
template<typename T , size_t N, size_t M>
	CSparseMatrix (const CMatrixFixedNumeric< T, N, M > &MAT)
	Constructor from a dense matrix of any kind existing in MRPT, creating a "column-compressed" sparse matrix.
template<typename T >
	CSparseMatrix (const CMatrixTemplateNumeric< T > &MAT)
	Constructor from a dense matrix of any kind existing in MRPT, creating a "column-compressed" sparse matrix.
	CSparseMatrix (const CSparseMatrix &other)
	Copy constructor.
	CSparseMatrix (const cs *const sm)
	Copy constructor from an existing "cs" CSparse data structure.
virtual	~CSparseMatrix ()
	Destructor.
void	operator= (const CSparseMatrix &other)
	Copy operator from another existing object.
void	clear ()
	Erase all previous contents and leave the matrix as a "triplet" 1x1 matrix without any data.
Math operations (the interesting stuff...)
void	add_AB (const CSparseMatrix &A, const CSparseMatrix &B)
	this = A+B
void	multiply_AB (const CSparseMatrix &A, const CSparseMatrix &B)
	this = A*B
void	multiply_Ab (const mrpt::vector_double &b, mrpt::vector_double &out_res) const
	out_res = this * b
CSparseMatrix	operator+ (const CSparseMatrix &other) const
CSparseMatrix	operator* (const CSparseMatrix &other) const
mrpt::vector_double	operator* (const mrpt::vector_double &other) const
void	operator+= (const CSparseMatrix &other)
void	operator*= (const CSparseMatrix &other)
CSparseMatrix	transpose () const
Private Member Functions
template<class MATRIX >
void	construct_from_mrpt_mat (const MATRIX &C)
	Initialization from a dense matrix of any kind existing in MRPT.
void	construct_from_triplet (const cs &triplet)
	Initialization from a triplet "cs", which is first compressed.
void	construct_from_existing_cs (const cs &sm)
	To be called by constructors only, assume previous pointers are trash and overwrite them.
void	internal_free_mem ()
	free buffers (deallocate the memory of the i,p,x buffers)
void	copy (const cs *const sm)
	Copy the data from an existing "cs" CSparse data structure.
void	copy_fast (cs *const sm)
	Fast copy the data from an existing "cs" CSparse data structure, copying the pointers and leaving NULLs in the source structure.
Private Attributes
cs	sparse_matrix
void	insert_entry (const size_t row, const size_t col, const double val)
	@ Access the matrix, get, set elements, etc.
void	insert_entry_fast (const size_t row, const size_t col, const double val)
	ONLY for TRIPLET matrices: Insert an element into a "cs", without checking if the matrix is in Triplet format and without extending the matrix extension/limits if (row,col) is out of the current size.
template<class MATRIX >
void	insert_submatrix (const size_t row, const size_t col, const MATRIX &M)
	ONLY for TRIPLET matrices: insert a given matrix (in any of the MRPT formats) at a given location of the sparse matrix.
void	compressFromTriplet ()
	ONLY for TRIPLET matrices: convert the matrix in a column-compressed form.
void	get_dense (CMatrixDouble &outMat) const
	Return a dense representation of the sparse matrix.
bool	saveToTextFile_dense (const std::string &filName)
	save as a dense matrix to a text file
size_t	getRowCount () const
size_t	getColCount () const
void	setRowCount (const size_t nRows)
	Change the number of rows in the matrix (can't be lower than current size)
void	setColCount (const size_t nCols)
bool	isTriplet () const
	Returns true if this sparse matrix is in "triplet" form.
bool	isColumnCompressed () const
	Returns true if this sparse matrix is in "column compressed" form.
static void	cs2dense (const cs &SM, CMatrixDouble &outMat)
	Static method to convert a "cs" structure into a dense representation of the sparse matrix.

Constructor & Destructor Documentation

mrpt::math::CSparseMatrix::CSparseMatrix	(	const size_t	nRows = `0`,
		const size_t	nCols = `0`
	)

Create an initially empty sparse matrix, in the "triplet" form.

Notice that you must call "compressFromTriplet" after populating the matrix and before using the math operatons on this matrix. The initial size can be later on extended with insert_entry() or setRowCount() & setColCount().

See also:: insert_entry, setRowCount, setColCount

template<typename T >

mrpt::math::CSparseMatrix::CSparseMatrix ( const CSparseMatrixTemplate< T > & data ) [inline]

A good way to initialize a sparse matrix from a list of non NULL elements.

This constructor takes all the non-zero entries in "data" and builds a column-compressed sparse representation.

Definition at line 174 of file CSparseMatrix.h.

References ASSERTMSG_, mrpt::math::CSparseMatrixTemplate::empty(), mrpt::math::CSparseMatrixTemplate::getRowCount(), mrpt::math::CSparseMatrixTemplate::getColCount(), mrpt::math::CSparseMatrixTemplate::begin(), mrpt::math::CSparseMatrixTemplate::end(), and insert_entry_fast().

template<typename T , size_t N, size_t M>

mrpt::math::CSparseMatrix::CSparseMatrix ( const CMatrixFixedNumeric< T, N, M > & MAT ) [inline, explicit]

Constructor from a dense matrix of any kind existing in MRPT, creating a "column-compressed" sparse matrix.

Definition at line 195 of file CSparseMatrix.h.

template<typename T >

mrpt::math::CSparseMatrix::CSparseMatrix ( const CMatrixTemplateNumeric< T > & MAT ) [inline, explicit]

Constructor from a dense matrix of any kind existing in MRPT, creating a "column-compressed" sparse matrix.

Definition at line 198 of file CSparseMatrix.h.

mrpt::math::CSparseMatrix::CSparseMatrix ( const CSparseMatrix & other )

Copy constructor.

mrpt::math::CSparseMatrix::CSparseMatrix ( const cs *const sm ) [explicit]

Copy constructor from an existing "cs" CSparse data structure.

virtual mrpt::math::CSparseMatrix::~CSparseMatrix ( ) [virtual]

Destructor.

Member Function Documentation

void mrpt::math::CSparseMatrix::add_AB	(	const CSparseMatrix &	A,
		const CSparseMatrix &	B
	)

this = A+B

Referenced by operator+().

void mrpt::math::CSparseMatrix::clear ( )

Erase all previous contents and leave the matrix as a "triplet" 1x1 matrix without any data.

void mrpt::math::CSparseMatrix::compressFromTriplet ( )

ONLY for TRIPLET matrices: convert the matrix in a column-compressed form.

See also:: insert_entry

Referenced by mrpt::graphslam::optimize_graph_spa_levmarq().

void mrpt::math::CSparseMatrix::construct_from_existing_cs ( const cs & sm ) [private]

To be called by constructors only, assume previous pointers are trash and overwrite them.

template<class MATRIX >

void mrpt::math::CSparseMatrix::construct_from_mrpt_mat ( const MATRIX & C ) [inline, private]

Initialization from a dense matrix of any kind existing in MRPT.

Definition at line 111 of file CSparseMatrix.h.

References mrpt::system::os::memcpy().

void mrpt::math::CSparseMatrix::construct_from_triplet ( const cs & triplet ) [private]

Initialization from a triplet "cs", which is first compressed.

void mrpt::math::CSparseMatrix::copy ( const cs *const sm ) [private]

Copy the data from an existing "cs" CSparse data structure.

void mrpt::math::CSparseMatrix::copy_fast ( cs *const sm ) [private]

Fast copy the data from an existing "cs" CSparse data structure, copying the pointers and leaving NULLs in the source structure.

static void mrpt::math::CSparseMatrix::cs2dense	(	const cs &	SM,
		CMatrixDouble &	outMat
	)		`[static]`

Static method to convert a "cs" structure into a dense representation of the sparse matrix.

void mrpt::math::CSparseMatrix::get_dense ( CMatrixDouble & outMat ) const

Return a dense representation of the sparse matrix.

See also:: saveToTextFile_dense

size_t mrpt::math::CSparseMatrix::getColCount ( ) const [inline]

Definition at line 306 of file CSparseMatrix.h.

size_t mrpt::math::CSparseMatrix::getRowCount ( ) const [inline]

Definition at line 305 of file CSparseMatrix.h.

void mrpt::math::CSparseMatrix::insert_entry	(	const size_t	row,
		const size_t	col,
		const double	val
	)

@ Access the matrix, get, set elements, etc.

ONLY for TRIPLET matrices: insert a new non-zero entry in the matrix. This method cannot be used once the matrix is in column-compressed form. The size of the matrix will be automatically extended if the indices are out of the current limits.

See also:: isTriplet, compressFromTriplet

void mrpt::math::CSparseMatrix::insert_entry_fast	(	const size_t	row,
		const size_t	col,
		const double	val
	)

ONLY for TRIPLET matrices: Insert an element into a "cs", without checking if the matrix is in Triplet format and without extending the matrix extension/limits if (row,col) is out of the current size.

Referenced by CSparseMatrix(), and mrpt::graphslam::optimize_graph_spa_levmarq().

template<class MATRIX >

void mrpt::math::CSparseMatrix::insert_submatrix	(	const size_t	row,
		const size_t	col,
		const MATRIX &	M
	)		`[inline]`

ONLY for TRIPLET matrices: insert a given matrix (in any of the MRPT formats) at a given location of the sparse matrix.

This method cannot be used once the matrix is in column-compressed form. The size of the matrix will be automatically extended if the indices are out of the current limits. Since this is inline, it can be very efficient for fixed-size MRPT matrices.

See also:: isTriplet, compressFromTriplet, insert_entry

Definition at line 272 of file CSparseMatrix.h.

References THROW_EXCEPTION.

Referenced by mrpt::graphslam::optimize_graph_spa_levmarq().

void mrpt::math::CSparseMatrix::internal_free_mem ( ) [private]

free buffers (deallocate the memory of the i,p,x buffers)

bool mrpt::math::CSparseMatrix::isColumnCompressed ( ) const [inline]

Returns true if this sparse matrix is in "column compressed" form.

See also:: isTriplet

Definition at line 316 of file CSparseMatrix.h.

bool mrpt::math::CSparseMatrix::isTriplet ( ) const [inline]

Returns true if this sparse matrix is in "triplet" form.

See also:: isColumnCompressed

Definition at line 313 of file CSparseMatrix.h.

void mrpt::math::CSparseMatrix::multiply_AB	(	const CSparseMatrix &	A,
		const CSparseMatrix &	B
	)

this = A*B

Referenced by operator*().

void mrpt::math::CSparseMatrix::multiply_Ab	(	const mrpt::vector_double &	b,
		mrpt::vector_double &	out_res
	)		const

out_res = this * b

CSparseMatrix mrpt::math::CSparseMatrix::operator* ( const CSparseMatrix & other ) const [inline]

Definition at line 230 of file CSparseMatrix.h.

References multiply_AB().

mrpt::vector_double mrpt::math::CSparseMatrix::operator* ( const mrpt::vector_double & other ) const [inline]

Definition at line 236 of file CSparseMatrix.h.

References multiply_Ab().

void mrpt::math::CSparseMatrix::operator*= ( const CSparseMatrix & other ) [inline]

Definition at line 244 of file CSparseMatrix.h.

References multiply_AB().

CSparseMatrix mrpt::math::CSparseMatrix::operator+ ( const CSparseMatrix & other ) const [inline]

Definition at line 224 of file CSparseMatrix.h.

References add_AB().

void mrpt::math::CSparseMatrix::operator+= ( const CSparseMatrix & other ) [inline]

Definition at line 241 of file CSparseMatrix.h.

void mrpt::math::CSparseMatrix::operator= ( const CSparseMatrix & other )

Copy operator from another existing object.

bool mrpt::math::CSparseMatrix::saveToTextFile_dense ( const std::string & filName )

save as a dense matrix to a text file

Returns:: False on any error.

void mrpt::math::CSparseMatrix::setColCount ( const size_t nCols ) [inline]

Definition at line 310 of file CSparseMatrix.h.

References ASSERT_.

void mrpt::math::CSparseMatrix::setRowCount ( const size_t nRows ) [inline]

Change the number of rows in the matrix (can't be lower than current size)

Definition at line 309 of file CSparseMatrix.h.

References ASSERT_.

CSparseMatrix mrpt::math::CSparseMatrix::transpose ( ) const

Member Data Documentation

cs mrpt::math::CSparseMatrix::sparse_matrix [private]

Definition at line 107 of file CSparseMatrix.h.

Detailed Description

Classes

Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation