Class for computing the explicit Schur complement. More...

#include <schur.hpp>

Public Types
using	P = std::conditional_t< is_low_precision< S >::value, T, S >

Public Member Functions
	SchurComplement (Hessian< T, S > &H)

void	build_structure (Graph< T, S > *graph, StreamPool &streams)

void	update_values (Graph< T, S > *graph, StreamPool &streams)

thrust::device_vector< T > &	get_b_Schur ()

void	build_indices (Graph< T, S > *graph, StreamPool &streams)

template<typename I >
void	build_csc_structure (Graph< T, S > *graph, CSCMatrix< S, I > &matrix)

template<typename I >
void	update_csc_values (Graph< T, S > *graph, CSCMatrix< S, I > &matrix)

void	compute_landmark_update (Graph< T, S > graph, StreamPool &streams, T xl, T *xp)

void	setup_schur_vector_multiply (Graph< T, S > *graph, StreamPool &streams)

void	execute_schur_vector_multiply (Graph< T, S > graph, StreamPool &streams, T vec_out, const T *vec_in)

Public Attributes
size_t	lowest_eliminated_block_col

size_t	pose_col_start

size_t	landmark_col_start

size_t	num_block_columns

size_t	pose_dim

size_t	landmark_dim

thrust::device_vector< S >	values

thrust::device_vector< P >	diagonal_values

Hessian< T, S > &	H

std::unordered_map< BlockCoordinates, size_t >	block_indices

std::unordered_map< BlockCoordinates, size_t >	diagonal_indices

std::unordered_map< size_t, std::vector< BlockCoordinates > >	diagonal_coords_by_dim

std::unordered_map< ProductDim, thrust::device_vector< ops::MulOp< S > > >	mul_ops

std::unordered_map< ProductDim, std::vector< ops::MulOp< S > > >	h_mul_ops

std::unordered_map< MatVecDim, thrust::device_vector< ops::HplMatVecOp > >	hpl_vec_ops

std::unordered_map< MatVecDim, std::vector< ops::HplMatVecOp > >	h_hpl_vec_ops

std::unordered_map< MatVecDim, thrust::device_vector< ops::HplMatVecOp > >	hplt_vec_ops

std::unordered_map< MatVecDim, std::vector< ops::HplMatVecOp > >	h_hplt_vec_ops

std::unordered_map< MatVecDim, thrust::device_vector< ops::HplMatVecOp > >	schur_vec_ops

std::unordered_map< MatVecDim, std::vector< ops::HplMatVecOp > >	h_schur_vec_ops

std::unordered_map< MatVecDim, thrust::device_vector< ops::HplMatVecOp > >	schur_vec_t_ops

std::unordered_map< MatVecDim, std::vector< ops::HplMatVecOp > >	h_schur_vec_t_ops

std::unordered_map< MatVecDim, thrust::device_vector< ops::BlockCopyOp > >	hpp_copy_ops

std::unordered_map< MatVecDim, std::vector< ops::BlockCopyOp > >	h_hpp_copy_ops

thrust::host_vector< P * >	A_ptrs

thrust::host_vector< P * >	Ainv_ptrs

std::unordered_map< size_t, thrust::device_vector< P * > >	A_ptrs_device_by_dim

std::unordered_map< size_t, thrust::device_vector< P * > >	Ainv_ptrs_device_by_dim

std::unordered_map< size_t, thrust::device_vector< int > >	info_by_dim

std::unordered_map< size_t, thrust::device_vector< size_t > >	diagonal_value_offsets_by_dim

std::unordered_map< size_t, thrust::device_vector< size_t > >	landmark_local_offsets_by_dim

thrust::host_vector< size_t >	h_block_col_pointers

thrust::host_vector< size_t >	h_block_row_indices

thrust::host_vector< size_t >	h_block_offsets

thrust::device_vector< size_t >	d_col_pointers

thrust::device_vector< size_t >	d_row_indices

thrust::device_vector< size_t >	d_offsets

thrust::device_vector< size_t >	d_schur_offsets

thrust::device_vector< size_t >	scalar_to_block_map

thrust::device_vector< T >	b_Schur

thrust::device_vector< T >	l_workspace

thrust::device_vector< T >	p_workspace

thrust::device_vector< T >	diagonal_workspace

thrust::device_vector< size_t >	d_pose_counts

thrust::device_vector< size_t >	d_pair_counts

thrust::device_vector< size_t >	d_pair_offsets

thrust::device_vector< BlockCoordinates >	d_pairs

thrust::host_vector< BlockCoordinates >	h_pairs

thrust::device_vector< ops::SchurMulTuple >	d_mul_tuples

thrust::host_vector< ops::SchurMulTuple >	h_mul_tuples

std::vector< size_t >	block_dims

thrust::host_vector< size_t >	h_diagonal_offsets

thrust::host_vector< size_t >	h_local_offsets

thrust::host_vector< size_t >	h_schur_offsets

std::vector< BlockCoordinates >	block_coords

cublasHandle_t	handle

Private Member Functions
void	build_schur_structure (Graph< T, S > *graph, StreamPool &streams)

void	setup_schur_multiplication (Graph< T, S > *graph, StreamPool &streams)

void	execute_Hpp_copy (Graph< T, S > *graph, StreamPool &streams)

void	setup_Hpp_copy (Graph< T, S > *graph, StreamPool &streams)

void	execute_schur_multiplication (Graph< T, S > *graph, StreamPool &streams)

void	setup_diagonal_inverse_multiply (Graph< T, S > *graph, StreamPool &streams)

void	execute_diagonal_inverse_multiply (Graph< T, S > graph, StreamPool &streams, T vec_out, T *vec_in)

void	setup_Hpl_vector_multiply (Graph< T, S > *graph, StreamPool &streams)

void	execute_Hpl_vector_multiply (Graph< T, S > graph, StreamPool &streams, T vec_out, T *vec_in)

void	setup_b_Schur_computation (Graph< T, S > *graph, StreamPool &streams)

void	execute_b_Schur_computation (Graph< T, S > graph, StreamPool &streams, T b_Schur)

void	setup_HplT_vector_multiply (Graph< T, S > *graph, StreamPool &streams)

void	execute_HplT_vector_multiply (Graph< T, S > graph, StreamPool &streams, T vec_out, T *vec_in)

void	build_diagonal_structure (Graph< T, S > *graph, StreamPool &streams)

void	setup_batched_inverse_buffers (StreamPool &streams)

void	execute_block_diagonal_inversion (Graph< T, S > *graph, StreamPool &streams)

Detailed Description

template<typename T, typename S>
class graphite::SchurComplement< T, S >

Class for computing the explicit Schur complement.

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

/home/runner/work/graphite/graphite/include/graphite/schur.hpp

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Detailed Description