marginal_covariance_cholesky.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
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#ifndef G2O_MARGINAL_COVARIANCE_CHOLESKY_H
#define G2O_MARGINAL_COVARIANCE_CHOLESKY_H
 
#include <unordered_map>
#include <vector>
 
#include "g2o_core_api.h"
#include "sparse_block_matrix.h"
 
namespace g2o {

class G2O_CORE_API MarginalCovarianceCholesky {
 protected:
  typedef std::unordered_map<int, double> LookupMap;
 
 public:
  MarginalCovarianceCholesky();
  ~MarginalCovarianceCholesky();

  void computeCovariance(double** covBlocks,
                         const std::vector<int>& blockIndices);

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

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

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

  double computeEntry(int r, int c);
};
 
}  // namespace g2o
 
#endif