test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/math/CSparseMatrix.h>
#include <mrpt/random/RandomGenerators.h>
#include <iostream>
 
using namespace mrpt;
using namespace mrpt::math;
using namespace std;
 
void ExampleCSparse()
{
        // Initialize a 10x10 sparse matrix:
        CSparseMatrix SM(10, 10);
 
        // With 2 dense blocks of 6x6 and 4x4:
        const auto COV1 = mrpt::random::getRandomGenerator()
                                                  .drawDefinitePositiveMatrix<CMatrixDouble>(6, 0.2);
        const auto COV2 = mrpt::random::getRandomGenerator()
                                                  .drawDefinitePositiveMatrix<CMatrixDouble>(4, 0.2);
        SM.insert_submatrix(0, 0, COV1);
        SM.insert_submatrix(6, 6, COV2);
 
        // Get as a dense matrix just for displaying to console:
        CMatrixDouble M;
        SM.get_dense(M);
        cout << "M (as dense):\n" << M;
 
        cout << "Saving to sparse_demo1.txt...\n";
        SM.saveToTextFile_sparse("sparse_demo1.txt");
 
        // Compress from the triplet to the column-compressed form:
        cout << "Compressing as CCS...\n";
        SM.compressFromTriplet();
 
        cout << "Saving to sparse_demo2.txt...\n";
        SM.saveToTextFile_sparse("sparse_demo2.txt");
 
        // Compute the Cholesky decomposition:
        CSparseMatrix::CholeskyDecomp Chol(SM);
 
        // And display the L factor:
        const CMatrixDouble L = Chol.get_L();
        cout << "L:\n" << L << endl;
}
 
int main(int argc, char** argv)
{
        try
        {
                ExampleCSparse();
                return 0;
        }
        catch (exception& e)
        {
                cout << "MRPT exception caught: " << e.what() << endl;
                return -1;
        }
        catch (...)
        {
                printf("Another exception!!");
                return -1;
        }
}