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:
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:
CSparseMatrix SM(100,100); SM.insert_entry(i,j, val); // or SM.insert_submatrix(i,j, MAT); // ... SM.compressFromTriplet();
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.
Definition at line 100 of file CSparseMatrix.h.
#include <mrpt/math/CSparseMatrix.h>
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. |
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().
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 170 of file CSparseMatrix.h.
References ASSERTMSG_, mrpt::math::CSparseMatrixTemplate< T >::begin(), mrpt::math::CSparseMatrixTemplate< T >::empty(), mrpt::math::CSparseMatrixTemplate< T >::end(), mrpt::math::CSparseMatrixTemplate< T >::getColCount(), and mrpt::math::CSparseMatrixTemplate< T >::getRowCount().
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 191 of file CSparseMatrix.h.
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 194 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.
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.
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.
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 107 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.
size_t mrpt::math::CSparseMatrix::getColCount | ( | ) | const [inline] |
Definition at line 302 of file CSparseMatrix.h.
size_t mrpt::math::CSparseMatrix::getRowCount | ( | ) | const [inline] |
Definition at line 301 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.
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.
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.
Definition at line 268 of file CSparseMatrix.h.
References THROW_EXCEPTION.
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.
Definition at line 312 of file CSparseMatrix.h.
bool mrpt::math::CSparseMatrix::isTriplet | ( | ) | const [inline] |
Returns true if this sparse matrix is in "triplet" form.
Definition at line 309 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 226 of file CSparseMatrix.h.
References multiply_AB().
mrpt::vector_double mrpt::math::CSparseMatrix::operator* | ( | const mrpt::vector_double & | other | ) | const [inline] |
Definition at line 232 of file CSparseMatrix.h.
References multiply_Ab().
void mrpt::math::CSparseMatrix::operator*= | ( | const CSparseMatrix & | other | ) | [inline] |
Definition at line 240 of file CSparseMatrix.h.
References multiply_AB().
CSparseMatrix mrpt::math::CSparseMatrix::operator+ | ( | const CSparseMatrix & | other | ) | const [inline] |
Definition at line 220 of file CSparseMatrix.h.
References add_AB().
void mrpt::math::CSparseMatrix::operator+= | ( | const CSparseMatrix & | other | ) | [inline] |
Definition at line 237 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
void mrpt::math::CSparseMatrix::setColCount | ( | const size_t | nCols | ) | [inline] |
Definition at line 306 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 305 of file CSparseMatrix.h.
References ASSERT_.
CSparseMatrix mrpt::math::CSparseMatrix::transpose | ( | ) | const |
cs mrpt::math::CSparseMatrix::sparse_matrix [private] |
Definition at line 103 of file CSparseMatrix.h.
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