Definitions of useful sparse matrix functions. More...

#include <Eigen/Sparse>
#include "SurgSim/Framework/Assert.h"
#include "SurgSim/Math/Matrix.h"

Classes
class	SurgSim::Math::Operation< DerivedSub, SparseType, StorageOrder >
	Helper class to run operation a column/row of a matrix to a chunk of memory where the size is dynamically defined. More...

class	SurgSim::Math::Operation< DerivedSub, SparseType, Eigen::ColMajor >
	Specialization for column major storage. More...

class	SurgSim::Math::Operation< DerivedSub, SparseType, Eigen::RowMajor >
	Specialization for row major storage. More...

Namespaces
	SurgSim
	Wraps glewInit() to separate the glew opengl definitions from the osg opengl definitions only imgui needs glew but we need to call glewInit() from a osg callback, using this call we avoid getting warnings about redefinitions.

Typedefs
typedef Eigen::SparseMatrix< double >	SurgSim::Math::SparseMatrix
	A sparse matrix.

Functions
template<int Opt, typename StorageIndex >
void	SurgSim::Math::blockWithSearch (const Eigen::Ref< const Matrix > &subMatrix, Eigen::Index rowStart, Eigen::Index columnStart, Eigen::Index n, Eigen::Index m, Eigen::SparseMatrix< double, Opt, StorageIndex > matrix, void(Operation< Matrix, Eigen::SparseMatrix< double, Opt, StorageIndex >>::op)(double *, StorageIndex, Eigen::Index, Eigen::Index, const Eigen::Ref< const Matrix > &, Eigen::Index))
	Runs a given operation on a SparseMatrix block(i, j, n, m) from a (n x m) 'subMatrix' with searching for the block 1st element. More...

template<int Opt, typename StorageIndex >
void	SurgSim::Math::blockOperation (const Eigen::Ref< const Matrix > &subMatrix, Eigen::Index rowStart, Eigen::Index columnStart, Eigen::SparseMatrix< double, Opt, StorageIndex > matrix, void(Operation< Matrix, Eigen::SparseMatrix< double, Opt, StorageIndex >>::op)(double *, const double &))
	Runs a given operation on a SparseMatrix block(i, j, n, m) from a (n x m) 'subMatrix' with searching for the block 1st element. More...

template<int Opt, typename StorageIndex >
void	SurgSim::Math::addSubMatrix (const Eigen::Ref< const Matrix > &subMatrix, Eigen::Index blockIdRow, Eigen::Index blockIdCol, Eigen::SparseMatrix< double, Opt, StorageIndex > *matrix)
	Add a dense sub-matrix into a matrix that may need the memory locations to be initialized. More...

template<int Opt, typename StorageIndex >
void	SurgSim::Math::addSubMatrixNoInitialize (const Eigen::Ref< const Matrix > &subMatrix, Eigen::Index blockIdRow, Eigen::Index blockIdCol, Eigen::SparseMatrix< double, Opt, StorageIndex > *matrix)
	Add a dense sub-matrix into a sparse matrix that does not need the memory locations to be initialized. More...

template<int Opt, typename StorageIndex >
void	SurgSim::Math::assignSubMatrix (const Eigen::Ref< const Matrix > &subMatrix, Eigen::Index blockIdRow, Eigen::Index blockIdCol, Eigen::SparseMatrix< double, Opt, StorageIndex > *matrix)
	Assign a dense sub-matrix into a matrix that may need the memory locations to be initialized. More...

template<int Opt, typename StorageIndex >
void	SurgSim::Math::assignSubMatrixNoInitialize (const Eigen::Ref< const Matrix > &subMatrix, Eigen::Index blockIdRow, Eigen::Index blockIdCol, Eigen::SparseMatrix< double, Opt, StorageIndex > *matrix)
	Assign a dense sub-matrix into a sparse matrix that does not need the memory locations to be initialized. More...

template<typename T , int Opt, typename StorageIndex >
void	SurgSim::Math::zeroRow (Eigen::Index row, Eigen::SparseMatrix< T, Opt, StorageIndex > *matrix)
	Helper method to zero a row of a matrix specialized for Sparse Matrices. More...

template<typename T , int Opt, typename StorageIndex >
void	SurgSim::Math::zeroColumn (Eigen::Index column, Eigen::SparseMatrix< T, Opt, StorageIndex > *matrix)
	Helper method to zero a column of a matrix specialized for Sparse Matrices. More...

template<typename T , int Opt, typename StorageIndex >
void	SurgSim::Math::clearMatrix (Eigen::SparseMatrix< T, Opt, StorageIndex > *matrix)
	Helper method to zero all entries of a matrix specialized for Sparse Matrices. More...

Detailed Description

Definitions of useful sparse matrix functions.

Function Documentation

§ addSubMatrix()

template<int Opt, typename StorageIndex >

void SurgSim::Math::addSubMatrix	(	const Eigen::Ref< const Matrix > &	subMatrix,
		Eigen::Index	blockIdRow,
		Eigen::Index	blockIdCol,
		Eigen::SparseMatrix< double, Opt, StorageIndex > *	matrix
	)

Add a dense sub-matrix into a matrix that may need the memory locations to be initialized.

Template Parameters

Opt,StorageIndex Type parameters defining the output matrix type SparseMatrix<double, Opt, StorageIndex>

Parameters

	subMatrix	The sub-matrix
	blockIdRow,blockIdCol	The block indices in matrix
[in,out]	matrix	The matrix to add the sub-matrix into

Note: This is a specialization of addSubMatrix for sparse matrices.

See also: addSubMatrixNoInitialize

§ addSubMatrixNoInitialize()

template<int Opt, typename StorageIndex >

void SurgSim::Math::addSubMatrixNoInitialize	(	const Eigen::Ref< const Matrix > &	subMatrix,
		Eigen::Index	blockIdRow,
		Eigen::Index	blockIdCol,
		Eigen::SparseMatrix< double, Opt, StorageIndex > *	matrix
	)

Add a dense sub-matrix into a sparse matrix that does not need the memory locations to be initialized.

Template Parameters

Opt,StorageIndex Type parameters defining the output matrix type SparseMatrix<double, Opt, StorageIndex>

Parameters

	subMatrix	The sub-matrix
	blockIdRow,blockIdCol	The block indices in matrix
[in,out]	matrix	The matrix to add the sub-matrix into

Note: This is a specialization of addSubMatrix for sparse matrices.

See also: addSubMatrix

§ assignSubMatrix()

template<int Opt, typename StorageIndex >

void SurgSim::Math::assignSubMatrix	(	const Eigen::Ref< const Matrix > &	subMatrix,
		Eigen::Index	blockIdRow,
		Eigen::Index	blockIdCol,
		Eigen::SparseMatrix< double, Opt, StorageIndex > *	matrix
	)

Assign a dense sub-matrix into a matrix that may need the memory locations to be initialized.

Template Parameters

Opt,StorageIndex Type parameters defining the output matrix type SparseMatrix<double, Opt, Index>

Parameters

	subMatrix	The sub-matrix
	blockIdRow,blockIdCol	The block indices in matrix
[in,out]	matrix	The matrix to assign the sub-matrix into

See also: assignSubMatrixNoInitialize

§ assignSubMatrixNoInitialize()

template<int Opt, typename StorageIndex >

void SurgSim::Math::assignSubMatrixNoInitialize	(	const Eigen::Ref< const Matrix > &	subMatrix,
		Eigen::Index	blockIdRow,
		Eigen::Index	blockIdCol,
		Eigen::SparseMatrix< double, Opt, StorageIndex > *	matrix
	)

Assign a dense sub-matrix into a sparse matrix that does not need the memory locations to be initialized.

Template Parameters

Opt,StorageIndex Type parameters defining the output matrix type SparseMatrix<double, Opt, Index>

Parameters

	subMatrix	The sub-matrix
	blockIdRow,blockIdCol	The block indices in matrix
[in,out]	matrix	The matrix to assign the sub-matrix into

See also: assignSubMatrix

§ blockOperation()

template<int Opt, typename StorageIndex >

void SurgSim::Math::blockOperation	(	const Eigen::Ref< const Matrix > &	subMatrix,
		Eigen::Index	rowStart,
		Eigen::Index	columnStart,
		Eigen::SparseMatrix< double, Opt, StorageIndex > *	matrix,
		void(Operation< Matrix, Eigen::SparseMatrix< double, Opt, StorageIndex >>::)(double , const double &)	op
	)

Runs a given operation on a SparseMatrix block(i, j, n, m) from a (n x m) 'subMatrix' with searching for the block 1st element.

It supposes:

that both the SparseMatrix and the 'subMatrix' are using the same Scalar type, double.
This function can be used to initialize the form of a sparse matrix as it will add entries when appropriate entries do not exist.

Template Parameters

Opt,StorageIndex Type parameters defining the output matrix type SparseMatrix<double, Opt, StorageIndex>

Parameters

	subMatrix	The sub matrix that will be copied into the SparseMatrix block
	rowStart,columnStart	The row and column indices to indicate where the block in the SparseMatrix starts
[in,out]	matrix	The sparse matrix in which the block needs to be set by 'subMatrix'
	op	The operation to run on the block

Exceptions

SurgSim::Framework::AssertionFailure If one of the following conditions is met:

if 'subMatrix' is smaller than (n x m) in any dimension
if 'matrix' is nullptr or smaller than (n x m) in any dimension
if the requested block is out of range in 'matrix'.
if 'matrix' does not fulfill the requirement (i.e. is missing elements within the block).

Note
The receiving SparseMatrix must have a structure like the following:
(xx x0 x)
(xx 0x x)
(x0[xx]x) -> The block must already contain all the coefficients but these rows and columns may
(0x[xx]0) -> contains more coefficients before and after the block.
(xx 00 x)

§ blockWithSearch()

template<int Opt, typename StorageIndex >

void SurgSim::Math::blockWithSearch	(	const Eigen::Ref< const Matrix > &	subMatrix,
		Eigen::Index	rowStart,
		Eigen::Index	columnStart,
		Eigen::Index	n,
		Eigen::Index	m,
		Eigen::SparseMatrix< double, Opt, StorageIndex > *	matrix,
		void(Operation< Matrix, Eigen::SparseMatrix< double, Opt, StorageIndex >>::)(double , StorageIndex, Eigen::Index, Eigen::Index, const Eigen::Ref< const Matrix > &, Eigen::Index)	op
	)

Runs a given operation on a SparseMatrix block(i, j, n, m) from a (n x m) 'subMatrix' with searching for the block 1st element.

It supposes:

that the SparseMatrix already contains all the elements within the block (no insertion necessary)

that both the SparseMatrix and the 'subMatrix' are using the same Scalar type, double.
This function will not change anything to the structure of the SparseMatrix, only change the values of the corresponding coefficients.

Template Parameters

Opt,StorageIndex Type parameters defining the output matrix type SparseMatrix<double, Opt, StorageIndex>

Parameters

	subMatrix	The sub matrix that will be copied into the SparseMatrix block
	rowStart,columnStart	The row and column indices to indicate where the block in the SparseMatrix starts
	n,m	The block size (Derived may be bigger but cannot be smaller in both dimension)
[in,out]	matrix	The sparse matrix in which the block needs to be set by 'subMatrix'
	op	The operation to run on the block

Exceptions

SurgSim::Framework::AssertionFailure If one of the following conditions is met:

if 'subMatrix' is smaller than (n x m) in any dimension
if 'matrix' is nullptr or smaller than (n x m) in any dimension
if the requested block is out of range in 'matrix'.
if 'matrix' does not fulfill the requirement (i.e. is missing elements within the block).

Note
The receiving SparseMatrix must have a structure like the following:
(xx x0 x)
(xx 0x x)
(x0[xx]x) -> The block must already contain all the coefficients but these rows and columns may
(0x[xx]0) -> contains more coefficients before and after the block.
(xx 00 x)

§ clearMatrix()

template<typename T , int Opt, typename StorageIndex >

void SurgSim::Math::clearMatrix ( Eigen::SparseMatrix< T, Opt, StorageIndex > * matrix )

inline

Helper method to zero all entries of a matrix specialized for Sparse Matrices.

This allows the preservation of the the matrix form while still allowing the reset of the matrix entries to zero.

Parameters

[in,out] matrix The matrix to set to zero

§ zeroColumn()

template<typename T , int Opt, typename StorageIndex >

void SurgSim::Math::zeroColumn	(	Eigen::Index	column,
		Eigen::SparseMatrix< T, Opt, StorageIndex > *	matrix
	)

inline

Helper method to zero a column of a matrix specialized for Sparse Matrices.

Parameters

	column	The column to set to zero
[in,out]	matrix	The matrix to set the zero column on.

§ zeroRow()

template<typename T , int Opt, typename StorageIndex >

void SurgSim::Math::zeroRow	(	Eigen::Index	row,
		Eigen::SparseMatrix< T, Opt, StorageIndex > *	matrix
	)

Helper method to zero a row of a matrix specialized for Sparse Matrices.

Parameters

	row	The row to set to zero
[in,out]	matrix	The matrix to set the zero row on.

Classes

Namespaces

Typedefs

Functions

Detailed Description

Function Documentation

§ addSubMatrix()

§ addSubMatrixNoInitialize()

§ assignSubMatrix()

§ assignSubMatrixNoInitialize()

§ blockOperation()

§ blockWithSearch()

§ clearMatrix()

§ zeroColumn()

§ zeroRow()