nmrInverseDynamicData Class Reference

Data for Inverse problem (Dynamic). More...

#include <nmrInverse.h>

Classes
class	Friend

Public Types
enum	{ NB = 64 }
typedef vct::size_type	size_type

Public Member Functions
	nmrInverseDynamicData ()
	nmrInverseDynamicData (size_type size, bool storageOrder)
template<class _matrixOwnerTypeA >
	nmrInverseDynamicData (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A)
template<class _matrixOwnerTypeA , class _vectorOwnerTypePivotIndices , class _vectorOwnerTypeWorkspace >
	nmrInverseDynamicData (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A, vctDynamicVectorBase< _vectorOwnerTypePivotIndices, CISSTNETLIB_INTEGER > &pivotIndices, vctDynamicVectorBase< _vectorOwnerTypeWorkspace, CISSTNETLIB_DOUBLE > &workspace)
template<class _matrixOwnerTypeA >
void	Allocate (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A)
void	Allocate (size_type size, bool storageOrder)
template<class _matrixOwnerTypeA , class _vectorOwnerTypePivotIndices , class _vectorOwnerTypeWorkspace >
void	SetRef (vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A, vctDynamicVectorBase< _vectorOwnerTypePivotIndices, CISSTNETLIB_INTEGER > &pivotIndices, vctDynamicVectorBase< _vectorOwnerTypeWorkspace, CISSTNETLIB_DOUBLE > &workspace) throw (std::runtime_error)

Static Public Member Functions
template<class _matrixOwnerTypeA >
static size_type	PivotIndicesSize (const vctDynamicConstMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A)
template<class _matrixOwnerTypeA >
static size_type	WorkspaceSize (const vctDynamicConstMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &A)

Protected Member Functions
void	SetDimension (size_type size, bool storageOrder)
void	AllocatePivotIndicesWorkspace (bool allocatePivotIndices, bool allocateWorkspace)
template<class _vectorOwnerTypePivotIndices >
void	ThrowUnlessPivotIndicesSizeIsCorrect (vctDynamicVectorBase< _vectorOwnerTypePivotIndices, CISSTNETLIB_INTEGER > &pivotIndices) throw (std::runtime_error)
template<class _vectorOwnerTypeWorkspace >
void	ThrowUnlessWorkspaceSizeIsCorrect (vctDynamicVectorBase< _vectorOwnerTypeWorkspace, CISSTNETLIB_DOUBLE > &workspace) throw (std::runtime_error)

Protected Attributes
vctDynamicVector < CISSTNETLIB_INTEGER >	PivotIndicesMemory
vctDynamicVector < CISSTNETLIB_DOUBLE >	WorkspaceMemory
vctDynamicVectorRef < CISSTNETLIB_INTEGER >	PivotIndicesReference
vctDynamicVectorRef < CISSTNETLIB_DOUBLE >	WorkspaceReference
size_type	SizeMember
bool	StorageOrderMember

Friends
class	Friend

Detailed Description

Data for Inverse problem (Dynamic).

To ease the use of the Inverse routine, the user can rely on the nmrInverseDynamicData class to perform the required memory allocation.

Another good reason to use a data object is that the memory allocation can be performed once during an initialization phase while the function nmrInverse can be called numerous times later on without any new dynamic memory allocation. This is crucial for such things as real time tasks.

The Inverse routine can be used for different storage orders, i.e. either VCT_ROW_MAJOR or VCT_COL_MAJOR. The only restriction is that all matrices and vectors must also be compact, i.e. use a contiguous block of memory.

Any size or storage order mismatch will lead to an exception thrown (std::runtime_error). Since we are using cmnThrow, it is possible to configure cisst (at compilation time) to abort the program instead of throwing an exception.

The nmrInverseDynamicData class allows 2 different configurations:

• Allocate automatically the workspace (PivotIndices vector and Workspace). This can be performed using either the constructor from input matrix (i.e. nmrInverseDynamicData(A)) or using the method Allocate(A).
• Don't allocate anything. The user has to provide the container he wants to use for the workspace and the vector of pivot indices. In this case, the data is used mostly to check that the container is valid in terms of size. This can be performed using either the constructor from PivotIndices (i.e. nmrSVDDynamicData(A, pivotIndices, workspace)) or the method SetRef(A, pivotIndices, workspace).

See Also

nmrInverse

Member Typedef Documentation

typedef vct::size_type nmrInverseDynamicData::size_type

Type used for sizes within nmrInverseDynamicData. This type is compatible with the cisstVector containers such as vctDynamicMatrix and vctDynamicVector (unsigned int). To call the Fortran based routines, these values must be cast to CISSTNETLIB_INTEGER.

Member Enumeration Documentation

anonymous enum

Enumerator
NB

Constructor & Destructor Documentation

nmrInverseDynamicData::nmrInverseDynamicData ( )

inline

The default constuctor. For dynamic size, there are assigned default values, i.e. sets all the dimensions to zero. These MUST be changed by calling the appropriate method.

See Also

nmrInverseDynamicData::Allocate nmrInverseDynamicData::SetRef

nmrInverseDynamicData::nmrInverseDynamicData ( size_type  size, bool  storageOrder  )

inline

Constructor where the user specifies the size. Memory allocation is performed for pivot indices vector and workspace. This should be used when the user doesn't care much about where the memory management.

Parameters

size	Dimension of the square matrix.
storageOrder	Storage order of the matrix

See Also

nmrInverseDynamicData::Allocate

template<class _matrixOwnerTypeA >

nmrInverseDynamicData::nmrInverseDynamicData ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A )

inline

Constructor where the user provides the input matrix to specify the size and storage order. Memory allocation is performed for pivot indices vector and workspace. This should be used when the user doesn't care much about memory management.

Parameters

A	input matrix.

See Also

nmrInverseDynamicData::Allocate

template<class _matrixOwnerTypeA , class _vectorOwnerTypePivotIndices , class _vectorOwnerTypeWorkspace >

nmrInverseDynamicData::nmrInverseDynamicData ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A, vctDynamicVectorBase< _vectorOwnerTypePivotIndices, CISSTNETLIB_INTEGER > &  pivotIndices, vctDynamicVectorBase< _vectorOwnerTypeWorkspace, CISSTNETLIB_DOUBLE > &  workspace  )

inline

Constructor where the user provides the vector to store the pivot indices and the workspace. The data object now acts as a composite container to hold, pass and manipulate a convenient storage for nmrInverse algorithm. Checks are made on the validity of the input and its consitency in terms of size.

Parameters

A	The matrix to be inversed, used to verify the sizes.
pivotIndices	Vector created by the user to store the pivot indices.
workspace	Vector created by the user for the workspace.

See Also

nmrInverseDynamicData::SetRef

Member Function Documentation

template<class _matrixOwnerTypeA >

void nmrInverseDynamicData::Allocate ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A )

inline

This method allocates memory for the pivot indices vector and the workspace. The input matrix is used only to determine the size of these vectors.

This method should be called before the nmrInverseDynamicData object is passed on to the nmrInverse function.

Parameters

A	The square matrix for which inverse needs to be computed.

void nmrInverseDynamicData::Allocate ( size_type  size, bool  storageOrder  )

inline

This method allocates the memory for the pivot indices and the workspace. This method is not meant to be a top-level user API, but is used by other overloaded Allocate methods.

Parameters

size	Size of the square input matrix A.
storageOrder	Storage order of the input matrix.

void nmrInverseDynamicData::AllocatePivotIndicesWorkspace ( bool  allocatePivotIndices, bool  allocateWorkspace  )

inlineprotected

Private method to allocate memory for the the pivot indices and the workspace if needed. This method assumes that the dimension m and n as well as the storage order are already set. It is important to use this method in all the methods provided in the user API, even if all the memory is provided by the user since this method will ensure that the data (nmrInverseDynamicData) does not keep any memory allocated. This is for the case where a single data object is used first to allocate everything and, later on, used with user allocated memory (for the output).

Note

The method SetDimension must have been called before.

template<class _matrixOwnerTypeA >

static size_type nmrInverseDynamicData::PivotIndicesSize ( const vctDynamicConstMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A )

inlinestatic

Helper method to compute the size of the pivot indices vector.

Parameters

A	The matrix to be used by nmrInverse (it is used only to determine the size).

void nmrInverseDynamicData::SetDimension ( size_type  size, bool  storageOrder  )

inlineprotected

Private method to set the data members SizeMember and StorageOrderMember. This method must be called before AllocatePivotIndicesWorkspace, ThrowUnlessOutputSizeIsCorrect or ThrowUnlessWorkspaceSizeIsCorrect.

template<class _matrixOwnerTypeA , class _vectorOwnerTypePivotIndices , class _vectorOwnerTypeWorkspace >

void nmrInverseDynamicData::SetRef ( vctDynamicMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A, vctDynamicVectorBase< _vectorOwnerTypePivotIndices, CISSTNETLIB_INTEGER > &  pivotIndices, vctDynamicVectorBase< _vectorOwnerTypeWorkspace, CISSTNETLIB_DOUBLE > &  workspace  ) throw ( std::runtime_error )

inline

This method doesn't allocate any memory as it relies on the user provided vectors (pivotIndices and workspace).

The data object now acts as a composite container to hold, pass and manipulate a convenient storage for Inverse algorithm. The method tests that all the containers provided by the user have the correct size and are compact.

Parameters

A	The matrix to be inversed, used to verify the sizes.
pivotIndices	Vector created by the user to store the pivot indices.
workspace	Vector created by the user for the workspace.

template<class _vectorOwnerTypePivotIndices >

void nmrInverseDynamicData::ThrowUnlessPivotIndicesSizeIsCorrect ( vctDynamicVectorBase< _vectorOwnerTypePivotIndices, CISSTNETLIB_INTEGER > &  pivotIndices ) throw ( std::runtime_error )

inlineprotected

Verifies that the user provided reference for the pivot indices match the size of the data object as set by SetDimension. This method also checks that all containers are compact.

Note

The method SetDimension must have been called before.

template<class _vectorOwnerTypeWorkspace >

void nmrInverseDynamicData::ThrowUnlessWorkspaceSizeIsCorrect ( vctDynamicVectorBase< _vectorOwnerTypeWorkspace, CISSTNETLIB_DOUBLE > &  workspace ) throw ( std::runtime_error )

inlineprotected

Verifies that the user provided reference for the workspace match the size of the data object as set by SetDimension. This method also checks that all containers are compact.

Note

The method SetDimension must have been called before.

template<class _matrixOwnerTypeA >

static size_type nmrInverseDynamicData::WorkspaceSize ( const vctDynamicConstMatrixBase< _matrixOwnerTypeA, CISSTNETLIB_DOUBLE > &  A )

inlinestatic

Helper method to compute the size of the workspace vector.

Parameters

A	The matrix to be used by nmrInverse (it is used only to determine the size).

Friends And Related Function Documentation

friend class Friend

friend

Member Data Documentation

vctDynamicVector<CISSTNETLIB_INTEGER> nmrInverseDynamicData::PivotIndicesMemory

protected

Memory allocated for pivot indices vector if needed.

vctDynamicVectorRef<CISSTNETLIB_INTEGER> nmrInverseDynamicData::PivotIndicesReference

protected

Reference return type, this points either to user allocated memory or our memory chunk if needed.

size_type nmrInverseDynamicData::SizeMember

protected

Store Size and StorageOrder which are needed to check if A matrix passed nmrInverse matches the allocated size.

bool nmrInverseDynamicData::StorageOrderMember

protected

vctDynamicVector<CISSTNETLIB_DOUBLE> nmrInverseDynamicData::WorkspaceMemory

protected

Memory allocated for the workspace if needed.

vctDynamicVectorRef<CISSTNETLIB_DOUBLE> nmrInverseDynamicData::WorkspaceReference

protected

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

• /home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstNumerical/nmrInverse.h