Inheritance diagram for isam::SparseSystem:

Collaboration diagram for isam::SparseSystem:

Public Member Functions
	SparseSystem (int num_rows, int num_cols)
	SparseSystem (const SparseSystem &mat)
	SparseSystem (const SparseSystem &mat, int num_rows, int num_cols, int first_row=0, int first_col=0)
	SparseSystem (int num_rows, int num_cols, SparseVector_p *rows, const Eigen::VectorXd &rhs)
const SparseSystem &	operator= (const SparseSystem &mat)
const Eigen::VectorXd &	rhs () const
void	set_rhs (const Eigen::VectorXd &rhs)
void	apply_givens (int row, int col, double c_givens=NULL, double s_givens=NULL)
void	append_new_rows (int num)
virtual void	add_row (const SparseVector &new_row, double new_r)
virtual int	add_row_givens (const SparseVector &new_row, double new_r)
virtual Eigen::VectorXd	solve () const

Detailed Description

Definition at line 36 of file SparseSystem.h.

Member Function Documentation

void isam::SparseSystem::add_row	(	const SparseVector &	new_row,
		double	new_r
	)		`[virtual]`

Insert a new row

Parameters:

new_row	The new sparse measurement row to add.
new_r	New right hand side entry.

Definition at line 86 of file SparseSystem.cpp.

int isam::SparseSystem::add_row_givens	(	const SparseVector &	new_row,
		double	new_r
	)		`[virtual]`

Insert a new measurement row and triangulate using Givens rotations

Parameters:

new_row	The new sparse measurement row to add.
new_r	New right hand side entry.

Returns:: Number of Givens rotations applied (for analysis).

Definition at line 95 of file SparseSystem.cpp.

void isam::SparseSystem::append_new_rows ( int num ) [virtual]

Append new rows to matrix.

Parameters:

num	Number of rows to add.

Reimplemented from isam::SparseMatrix.

Definition at line 81 of file SparseSystem.cpp.

void isam::SparseSystem::apply_givens	(	int	row,
		int	col,
		double *	c_givens = `NULL`,
		double *	s_givens = `NULL`
	)		`[virtual]`

Note: While rows are passed in, the rhs is required to already contain the new entry - necessary because we cannot change the signature of the function.

Reimplemented from isam::SparseMatrix.

Definition at line 71 of file SparseSystem.cpp.

VectorXd isam::SparseSystem::solve ( ) const [virtual]

Solve equation system by backsubstitution.

Returns:: Solution for x in Rx=b'

Definition at line 119 of file SparseSystem.cpp.

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

include/isam/SparseSystem.h
isamlib/SparseSystem.cpp

Public Member Functions

Detailed Description

Member Function Documentation