1// Ceres Solver - A fast non-linear least squares minimizer 2// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 3// http://code.google.com/p/ceres-solver/ 4// 5// Redistribution and use in source and binary forms, with or without 6// modification, are permitted provided that the following conditions are met: 7// 8// * Redistributions of source code must retain the above copyright notice, 9// this list of conditions and the following disclaimer. 10// * Redistributions in binary form must reproduce the above copyright notice, 11// this list of conditions and the following disclaimer in the documentation 12// and/or other materials provided with the distribution. 13// * Neither the name of Google Inc. nor the names of its contributors may be 14// used to endorse or promote products derived from this software without 15// specific prior written permission. 16// 17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27// POSSIBILITY OF SUCH DAMAGE. 28// 29// Author: sameeragarwal@google.com (Sameer Agarwal) 30 31#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_ 32#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_ 33 34#include "ceres/block_random_access_matrix.h" 35 36#include <vector> 37 38#include "ceres/internal/macros.h" 39#include "ceres/internal/port.h" 40#include "ceres/internal/scoped_ptr.h" 41 42namespace ceres { 43namespace internal { 44 45// A square block random accessible matrix with the same row and 46// column block structure. All cells are stored in the same single 47// array, so that its also accessible as a dense matrix of size 48// num_rows x num_cols. 49// 50// This class is NOT thread safe. Since all n^2 cells are stored, 51// GetCell never returns NULL for any (row_block_id, col_block_id) 52// pair. 53// 54// ReturnCell is a nop. 55class BlockRandomAccessDenseMatrix : public BlockRandomAccessMatrix { 56 public: 57 // blocks is a vector of block sizes. The resulting matrix has 58 // blocks.size() * blocks.size() cells. 59 explicit BlockRandomAccessDenseMatrix(const vector<int>& blocks); 60 61 // The destructor is not thread safe. It assumes that no one is 62 // modifying any cells when the matrix is being destroyed. 63 virtual ~BlockRandomAccessDenseMatrix(); 64 65 // BlockRandomAccessMatrix interface. 66 virtual CellInfo* GetCell(int row_block_id, 67 int col_block_id, 68 int* row, 69 int* col, 70 int* row_stride, 71 int* col_stride); 72 73 // This is not a thread safe method, it assumes that no cell is 74 // locked. 75 virtual void SetZero(); 76 77 // Since the matrix is square with the same row and column block 78 // structure, num_rows() = num_cols(). 79 virtual int num_rows() const { return num_rows_; } 80 virtual int num_cols() const { return num_rows_; } 81 82 // The underlying matrix storing the cells. 83 const double* values() const { return values_.get(); } 84 double* mutable_values() { return values_.get(); } 85 86 private: 87 int num_rows_; 88 vector<int> block_layout_; 89 scoped_array<double> values_; 90 scoped_array<CellInfo> cell_infos_; 91 92 CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessDenseMatrix); 93}; 94 95} // namespace internal 96} // namespace ceres 97 98#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_ 99