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//
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6// modification, are permitted provided that the following conditions are met:
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16//
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28//
29// Author: sameeragarwal@google.com (Sameer Agarwal)
30
31#include "ceres/block_random_access_dense_matrix.h"
32
33#include <vector>
34#include "ceres/internal/eigen.h"
35#include "ceres/internal/scoped_ptr.h"
36#include "glog/logging.h"
37
38namespace ceres {
39namespace internal {
40
41BlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix(
42    const vector<int>& blocks) {
43  const int num_blocks = blocks.size();
44  block_layout_.resize(num_blocks, 0);
45  num_rows_ = 0;
46  for (int i = 0; i < num_blocks; ++i) {
47    block_layout_[i] = num_rows_;
48    num_rows_ += blocks[i];
49  }
50
51  values_.reset(new double[num_rows_ * num_rows_]);
52
53  cell_infos_.reset(new CellInfo[num_blocks * num_blocks]);
54  for (int i = 0; i < num_blocks * num_blocks; ++i) {
55    cell_infos_[i].values = values_.get();
56  }
57
58  SetZero();
59}
60
61// Assume that the user does not hold any locks on any cell blocks
62// when they are calling SetZero.
63BlockRandomAccessDenseMatrix::~BlockRandomAccessDenseMatrix() {
64}
65
66CellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id,
67                                                const int col_block_id,
68                                                int* row,
69                                                int* col,
70                                                int* row_stride,
71                                                int* col_stride) {
72  *row = block_layout_[row_block_id];
73  *col = block_layout_[col_block_id];
74  *row_stride = num_rows_;
75  *col_stride = num_rows_;
76  return &cell_infos_[row_block_id * block_layout_.size() + col_block_id];
77}
78
79// Assume that the user does not hold any locks on any cell blocks
80// when they are calling SetZero.
81void BlockRandomAccessDenseMatrix::SetZero() {
82  if (num_rows_) {
83    VectorRef(values_.get(), num_rows_ * num_rows_).setZero();
84  }
85}
86
87}  // namespace internal
88}  // namespace ceres
89