marginal_covariance_cholesky.h

// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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#ifndef G2O_MARGINAL_COVARIANCE_CHOLESKY_H
#define G2O_MARGINAL_COVARIANCE_CHOLESKY_H
 
#include "optimizable_graph.h"
#include "sparse_block_matrix.h"
 
#include <cassert>
#include "Base/Headers/Buffer.hpp"
#include <unordered_map>
 
 
namespace NDEVR {

  class  MarginalCovarianceCholesky {
    protected:
      typedef Dictionary<int, g_type>     LookupMap;
    
    public:
      MarginalCovarianceCholesky();

      void computeCovariance(g_type** covBlocks, const Buffer<int>& blockIndices);
 

      void computeCovariance(SparseBlockMatrix<MatrixX<g_type>>& spinv, const Buffer<int>& rowBlockIndices, const Buffer< std::pair<int, int> >& blockIndices);
 

      void setCholeskyFactor(int n, int* Lp, int* Li, g_type* Lx, int* permInv);
 
    protected:
      // information about the cholesky factor (lower triangle)
      int _n;           
      int* _Ap;         
      int* _Ai;         
      g_type* _Ax;      
      int* _perm;       
 
      LookupMap _map;             
      Buffer<g_type> _diag;  

      int computeIndex(int r, int c) const { /*assert(r <= c);*/ return r*_n + c;}
      g_type computeEntry(int r, int c);
  };
 
}
 
#endif