mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL > Struct Template Reference

Detailed Description

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>
struct mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >

A templated column-indexed efficient storage of block-sparse Jacobian or Hessian matrices, together with other arbitrary information.

Columns are stored in a non-associative container, but the contents of each column are kept within an std::map<> indexed by row. All submatrix blocks have the same size, which allows dense storage of them in fixed-size matrices, avoiding costly memory allocations.

Template Parameters

NROWS	Rows in each elementary matrix.
NCOLS	Cols in each elementary matrix.
INFO	Type of the extra data fields within each block
HAS_REMAP	Is true, an inverse mapping between column indices and "user IDs" is kept.
INDEX_REMAP_MAP_IMPL	Ignore if HAS_REMAP=false. Defaults to "mrpt::containers::map_as_vector<size_t,size_t>" for amortized O(1). Can be set to "std::map<size_t,size_t>" in very sparse systems to save memory at the cost of a O(log N) access time when using the remap indices.

Definition at line 41 of file MatrixBlockSparseCols.h.

#include <mrpt/math/MatrixBlockSparseCols.h>

Classes
struct	TEntry

Public Types
using	matrix_t = Eigen::Matrix< Scalar, NROWS, NCOLS >
using	symbolic_t = INFO
using	col_t = std::map< size_t, TEntry >
	Each compressed sparse column. More...

Public Member Functions
	MatrixBlockSparseCols ()
col_t &	getCol (const size_t idx)
const col_t &	getCol (const size_t idx) const
const mrpt::containers::map_as_vector< size_t, size_t > &	getColInverseRemappedIndices () const
const std::vector< size_t > &	getColRemappedIndices () const
col_t &	appendCol (const size_t remapIndex)
	Append one column, returning a ref to the new col_t data. More...
void	setColCount (const size_t nCols)
	Change the number of columns (keep old contents) More...
size_t	cols () const
	Get current number of cols. More...
void	clearColEntries ()
	Clear all the entries in each column (do not change the number of columns, though!) More...
void	clearAll ()
	Clear all the entries in each column (do not change the number of columns, though!) More...
void	saveToTextFileAsDense (const std::string &filename, const bool force_symmetry=false, const bool is_col_compressed=true) const
	Builds a dense representation of the matrix and saves to a text file. More...
void	getAsDense (mrpt::math::CMatrixDouble &D, const bool force_symmetry=false, const bool is_col_compressed=true) const
	Builds a dense representation of the matrix and saves to a text file. More...
size_t	findCurrentNumberOfRows () const
	Goes over all the columns and keep the largest column length. More...
template<class MATRIX >
void	getBinaryBlocksRepresentation (MATRIX &out) const
	Builds a binary matrix with 1s where an elementary matrix is stored, 0s elsewhere. More...
void	copyNumericalValuesFrom (const MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP > &o)
	Clear the current contents of this objects and replicates the sparse structure and numerical values of o. More...

Private Attributes
std::deque< col_t >	m_cols
	-> cols[i]: i'th column. More...
mrpt::containers::map_as_vector< size_t, size_t >	col_inverse_remapped_indices
	"remapped index" is the index of some global variable, interpreted by the external user of this class. More...
std::vector< size_t >	col_remapped_indices

Member Typedef Documentation

col_t

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

using mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::col_t = std::map<size_t, TEntry>

Each compressed sparse column.

Definition at line 55 of file MatrixBlockSparseCols.h.

matrix_t

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

using mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::matrix_t = Eigen::Matrix<Scalar, NROWS, NCOLS>

Definition at line 43 of file MatrixBlockSparseCols.h.

symbolic_t

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

using mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::symbolic_t = INFO

Definition at line 44 of file MatrixBlockSparseCols.h.

Constructor & Destructor Documentation

MatrixBlockSparseCols()

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::MatrixBlockSparseCols ( )

inline

Definition at line 70 of file MatrixBlockSparseCols.h.

Member Function Documentation

appendCol()

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

col_t& mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::appendCol ( const size_t  remapIndex )

inline

Append one column, returning a ref to the new col_t data.

Definition at line 86 of file MatrixBlockSparseCols.h.

References mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::col_inverse_remapped_indices, mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::col_remapped_indices, and mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::m_cols.

clearAll()

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

void mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::clearAll ( )

inline

Clear all the entries in each column (do not change the number of columns, though!)

See also

getColCount

Definition at line 115 of file MatrixBlockSparseCols.h.

References mrpt::containers::map_as_vector< KEY, VALUE, VECTOR_T >::clear(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::col_inverse_remapped_indices, mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::col_remapped_indices, and mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::m_cols.

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clearColEntries()

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

void mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::clearColEntries ( )

inline

Clear all the entries in each column (do not change the number of columns, though!)

See also

getColCount

Definition at line 108 of file MatrixBlockSparseCols.h.

References mrpt::containers::clear(), and mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::m_cols.

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cols()

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

size_t mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::cols ( ) const

inline

Get current number of cols.

See also

findCurrentNumberOfRows

Definition at line 105 of file MatrixBlockSparseCols.h.

References mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::m_cols.

copyNumericalValuesFrom()

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

void mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::copyNumericalValuesFrom ( const MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP > &  o )

inline

Clear the current contents of this objects and replicates the sparse structure and numerical values of o.

Definition at line 202 of file MatrixBlockSparseCols.h.

References mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::m_cols.

findCurrentNumberOfRows()

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

size_t mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::findCurrentNumberOfRows ( ) const

inline

Goes over all the columns and keep the largest column length.

See also

cols()

Definition at line 171 of file MatrixBlockSparseCols.h.

References mrpt::containers::begin(), mrpt::keep_max(), and mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::m_cols.

Referenced by mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getAsDense(), and mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getBinaryBlocksRepresentation().

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getAsDense()

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

void mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getAsDense ( mrpt::math::CMatrixDouble &  D, const bool  force_symmetry = false, const bool  is_col_compressed = true  ) const

inline

Builds a dense representation of the matrix and saves to a text file.

Parameters

is_col_compressed

true: interpret this object as compressed by cols; false: compressed by rows

Definition at line 139 of file MatrixBlockSparseCols.h.

References mrpt::containers::begin(), mrpt::math::MatrixVectorBase< Scalar, Derived >::block(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::findCurrentNumberOfRows(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::m_cols, and mrpt::math::CMatrixDynamic< T >::setSize().

Referenced by mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::saveToTextFileAsDense().

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getBinaryBlocksRepresentation()

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

template<class MATRIX >

void mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getBinaryBlocksRepresentation ( MATRIX &  out ) const

inline

Builds a binary matrix with 1s where an elementary matrix is stored, 0s elsewhere.

Definition at line 186 of file MatrixBlockSparseCols.h.

References mrpt::containers::begin(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::findCurrentNumberOfRows(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::m_cols, and out.

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getCol() [1/2]

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

col_t& mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getCol ( const size_t  idx )

inline

Definition at line 71 of file MatrixBlockSparseCols.h.

References mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::m_cols.

getCol() [2/2]

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

const col_t& mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getCol ( const size_t  idx ) const

inline

Definition at line 72 of file MatrixBlockSparseCols.h.

References mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::m_cols.

getColInverseRemappedIndices()

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

const mrpt::containers::map_as_vector<size_t, size_t>& mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getColInverseRemappedIndices ( ) const

inline

Definition at line 74 of file MatrixBlockSparseCols.h.

References mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::col_inverse_remapped_indices.

getColRemappedIndices()

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

const std::vector<size_t>& mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getColRemappedIndices ( ) const

inline

Definition at line 79 of file MatrixBlockSparseCols.h.

References mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::col_remapped_indices.

saveToTextFileAsDense()

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

void mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::saveToTextFileAsDense ( const std::string &  filename, const bool  force_symmetry = false, const bool  is_col_compressed = true  ) const

inline

Builds a dense representation of the matrix and saves to a text file.

Definition at line 126 of file MatrixBlockSparseCols.h.

References mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getAsDense(), and mrpt::math::MatrixVectorBase< Scalar, Derived >::saveToTextFile().

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setColCount()

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

void mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::setColCount ( const size_t  nCols )

inline

Change the number of columns (keep old contents)

Definition at line 103 of file MatrixBlockSparseCols.h.

References mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::m_cols.

Member Data Documentation

col_inverse_remapped_indices

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

mrpt::containers::map_as_vector<size_t, size_t> mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::col_inverse_remapped_indices

private

"remapped index" is the index of some global variable, interpreted by the external user of this class.

Definition at line 66 of file MatrixBlockSparseCols.h.

Referenced by mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::appendCol(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::clearAll(), and mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getColInverseRemappedIndices().

col_remapped_indices

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

std::vector<size_t> mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::col_remapped_indices

private

Definition at line 67 of file MatrixBlockSparseCols.h.

Referenced by mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::appendCol(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::clearAll(), and mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getColRemappedIndices().

m_cols

template<typename Scalar, int NROWS, int NCOLS, typename INFO, bool HAS_REMAP, typename INDEX_REMAP_MAP_IMPL = mrpt::containers::map_as_vector<size_t, size_t>>

std::deque<col_t> mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::m_cols

private

-> cols[i]: i'th column.

-> Each column is a map [row] -> TEntry

Definition at line 61 of file MatrixBlockSparseCols.h.

Referenced by mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::appendCol(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::clearAll(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::clearColEntries(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::cols(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::copyNumericalValuesFrom(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::findCurrentNumberOfRows(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getAsDense(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getBinaryBlocksRepresentation(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getCol(), and mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::setColCount().