isam::Cholesky Class Reference

Inheritance diagram for isam::Cholesky:

List of all members.

Public Member Functions
virtual void	factorize (const SparseSystem &Ab, Eigen::VectorXd *delta=NULL, double lambda=0.)=0
virtual void	get_R (SparseSystem &R)=0
virtual int *	get_order ()=0
Static Public Member Functions
static Cholesky *	Create ()

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Detailed Description

Definition at line 36 of file Cholesky.h.

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Member Function Documentation

virtual void isam::Cholesky::factorize	(	const SparseSystem &	Ab,
		Eigen::VectorXd *	delta = NULL,
		double	lambda = 0.
	)		[pure virtual]

Factorize a given system Ax=b and optionally solve.

Parameters:

Ab	SparseSystem with measurement Jacobian A and right hand side b.
delta	Optional parameter to return solution of system.
lambda	Adds elements to diagonal of information matrix A'A before factorization, used for Levenberg-Marquardt algorithm.

virtual int* isam::Cholesky::get_order

(

)

[pure virtual]

Access the variable ordering used for Cholesky factorization.

Returns:

Pointer to variable ordering.

Implemented in isam::CholeskyImplCSparse, and isam::CholeskyImpl.

virtual void isam::Cholesky::get_R

(

SparseSystem &

R

)

[pure virtual]

Copy R into a SparseSystem data structure (expensive, so can be avoided during batch factorization).

Parameters:

R	SparseSystem that upon return will contain the R factor.

Implemented in isam::CholeskyImplCSparse, and isam::CholeskyImpl.

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

• include/isam/Cholesky.h
• isamlib/Cholesky.cpp