101 lines
4.1 KiB
C
101 lines
4.1 KiB
C
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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//
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// Implementation of the SparseMatrix interface for block sparse
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// matrices.
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#ifndef CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
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#define CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
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#include "ceres/block_structure.h"
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#include "ceres/sparse_matrix.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/macros.h"
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#include "ceres/internal/scoped_ptr.h"
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namespace ceres {
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namespace internal {
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class TripletSparseMatrix;
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// This class implements the SparseMatrix interface for storing and
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// manipulating block sparse matrices. The block structure is stored
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// in the CompressedRowBlockStructure object and one is needed to
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// initialize the matrix. For details on how the blocks structure of
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// the matrix is stored please see the documentation
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//
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// internal/ceres/block_structure.h
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//
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class BlockSparseMatrix : public SparseMatrix {
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public:
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// Construct a block sparse matrix with a fully initialized
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// CompressedRowBlockStructure objected. The matrix takes over
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// ownership of this object and destroys it upon destruction.
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//
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// TODO(sameeragarwal): Add a function which will validate legal
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// CompressedRowBlockStructure objects.
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explicit BlockSparseMatrix(CompressedRowBlockStructure* block_structure);
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BlockSparseMatrix();
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virtual ~BlockSparseMatrix();
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// Implementation of SparseMatrix interface.
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virtual void SetZero();
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virtual void RightMultiply(const double* x, double* y) const;
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virtual void LeftMultiply(const double* x, double* y) const;
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virtual void SquaredColumnNorm(double* x) const;
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virtual void ScaleColumns(const double* scale);
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virtual void ToDenseMatrix(Matrix* dense_matrix) const;
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virtual void ToTextFile(FILE* file) const;
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virtual int num_rows() const { return num_rows_; }
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virtual int num_cols() const { return num_cols_; }
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virtual int num_nonzeros() const { return num_nonzeros_; }
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virtual const double* values() const { return values_.get(); }
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virtual double* mutable_values() { return values_.get(); }
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void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const;
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const CompressedRowBlockStructure* block_structure() const;
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private:
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int num_rows_;
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int num_cols_;
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int max_num_nonzeros_;
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int num_nonzeros_;
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scoped_array<double> values_;
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scoped_ptr<CompressedRowBlockStructure> block_structure_;
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CERES_DISALLOW_COPY_AND_ASSIGN(BlockSparseMatrix);
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
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