1// Ceres Solver - A fast non-linear least squares minimizer
2// Copyright 2013 Google Inc. All rights reserved.
3// http://code.google.com/p/ceres-solver/
4//
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6// modification, are permitted provided that the following conditions are met:
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16//
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29// Author: sameeragarwal@google.com (Sameer Agarwal)
30
31#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
32#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
33
34#include <set>
35#include <vector>
36#include <utility>
37#include "ceres/mutex.h"
38#include "ceres/block_random_access_matrix.h"
39#include "ceres/collections_port.h"
40#include "ceres/triplet_sparse_matrix.h"
41#include "ceres/integral_types.h"
42#include "ceres/internal/macros.h"
43#include "ceres/internal/port.h"
44#include "ceres/internal/scoped_ptr.h"
45#include "ceres/types.h"
46
47namespace ceres {
48namespace internal {
49
50// A thread safe block diagonal matrix implementation of
51// BlockRandomAccessMatrix.
52class BlockRandomAccessDiagonalMatrix : public BlockRandomAccessMatrix {
53 public:
54  // blocks is an array of block sizes.
55  BlockRandomAccessDiagonalMatrix(const vector<int>& blocks);
56
57  // The destructor is not thread safe. It assumes that no one is
58  // modifying any cells when the matrix is being destroyed.
59  virtual ~BlockRandomAccessDiagonalMatrix();
60
61  // BlockRandomAccessMatrix Interface.
62  virtual CellInfo* GetCell(int row_block_id,
63                            int col_block_id,
64                            int* row,
65                            int* col,
66                            int* row_stride,
67                            int* col_stride);
68
69  // This is not a thread safe method, it assumes that no cell is
70  // locked.
71  virtual void SetZero();
72
73  // Since the matrix is square, num_rows() == num_cols().
74  virtual int num_rows() const { return tsm_->num_rows(); }
75  virtual int num_cols() const { return tsm_->num_cols(); }
76
77  // Access to the underlying matrix object.
78  const TripletSparseMatrix* matrix() const { return tsm_.get(); }
79  TripletSparseMatrix* mutable_matrix() { return tsm_.get(); }
80
81 private:
82  // row/column block sizes.
83  const vector<int> blocks_;
84  vector<CellInfo*> layout_;
85
86  // The underlying matrix object which actually stores the cells.
87  scoped_ptr<TripletSparseMatrix> tsm_;
88
89  friend class BlockRandomAccessDiagonalMatrixTest;
90  CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessDiagonalMatrix);
91};
92
93}  // namespace internal
94}  // namespace ceres
95
96#endif  // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
97