srba::SchurComplement< HESS_Ap, HESS_f, HESS_Apf > Class Template Reference

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Detailed Description

template<class HESS_Ap, class HESS_f, class HESS_Apf>
class srba::SchurComplement< HESS_Ap, HESS_f, HESS_Apf >

A generic symbolic and numeric Schur-complement handler for builing reduced systems of equations.

Definition at line 17 of file schur.h.

#include <schur.h>

List of all members.

Classes
struct	TGradApSymbolicEntry
struct	THApSymbolicEntry
struct	TInfoPerHfBlock
Public Member Functions
	SchurComplement (HESS_Ap &_HAp, HESS_f &_Hf, HESS_Apf &_HApf, double *_minus_grad_Ap, double *_minus_grad_f)
void	realize_HAp_changed ()
size_t	getNumFeatures () const
size_t	getNumFeaturesFullRank () const
void	numeric_build_reduced_system (const double lambda)
void	numeric_solve_for_features (double *in_deltas_Ap, double *out_deltas_feats)
bool	was_ith_feature_invertible (const size_t i) const

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Constructor & Destructor Documentation

template<class HESS_Ap, class HESS_f, class HESS_Apf>

srba::SchurComplement< HESS_Ap, HESS_f, HESS_Apf >::SchurComplement	(	HESS_Ap &	_HAp,
		HESS_f &	_Hf,
		HESS_Apf &	_HApf,
		double *	_minus_grad_Ap,
		double *	_minus_grad_f
	)		[inline]

Constructor: builds the symbolic representations Note: HApf must be in row-compressed form; HAp & Hf in column-compressed form.

Parameters:

[in]

_minus_grad_f

Can be NULL if there're no observations of landmarks with unknown positions (may still be of LMs with known ones).

Definition at line 25 of file schur.h.

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Member Function Documentation

template<class HESS_Ap, class HESS_f, class HESS_Apf>

size_t srba::SchurComplement< HESS_Ap, HESS_f, HESS_Apf >::getNumFeatures

(

)

const [inline]

After calling numeric_build_reduced_system() one can get the stats on how many features are actually estimable

Definition at line 171 of file schur.h.

template<class HESS_Ap, class HESS_f, class HESS_Apf>

void srba::SchurComplement< HESS_Ap, HESS_f, HESS_Apf >::numeric_build_reduced_system

(

const double

lambda

)

[inline]

Replace the HAp matrix with its Schur reduced version. The lambda value is used to sum it to the diagonal of Hf (features), but it's NOT added to the output HAp. This is intentional, so the caller can add different lamdba values as needed in different trials if an ill conditioned matrix is found.

Definition at line 180 of file schur.h.

template<class HESS_Ap, class HESS_f, class HESS_Apf>

void srba::SchurComplement< HESS_Ap, HESS_f, HESS_Apf >::realize_HAp_changed

(

)

[inline]

Must be called after the numerical values of the Hessian HAp change, typically after an optimization update which led to re-evaluation of the Jacobians around a new linearization point. This method latches the current value of HAp for reseting it again if we later need to recompute the reduced Schur system for different values of lambda.

Definition at line 165 of file schur.h.

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

• srba/impl/schur.h