38 lines
1.0 KiB
C++
38 lines
1.0 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/*
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* SPQRUtil.h
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*
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* Created on: Jul 1, 2010
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* Author: nikai
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* Description: the utility functions for SPQR
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*/
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#pragma once
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#include <gtsam/base/Matrix.h>
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#ifdef GT_USE_LAPACK
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#include <spqr_subset.hpp>
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namespace gtsam {
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/** make stairs and speed up householder_spqr. Stair is defined as the row index of where zero entries start in each column */
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long* MakeStairs(Matrix &A);
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/** Householder tranformation, zeros below diagonal */
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void householder_spqr(Matrix &A, long* Stair = NULL);
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void householder_spqr_colmajor(boost::numeric::ublas::matrix<double, boost::numeric::ublas::column_major>& A, long *Stair);
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}
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#endif
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