xref: /external/ceres-solver/internal/ceres/block_sparse_matrix.h

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
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// Author: sameeragarwal@google.com (Sameer Agarwal)
//
// Implementation of the SparseMatrix interface for block sparse
// matrices.

#ifndef CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
#define CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_

#include "ceres/block_structure.h"
#include "ceres/sparse_matrix.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/macros.h"
#include "ceres/internal/scoped_ptr.h"

namespace ceres {
namespace internal {

class TripletSparseMatrix;

// This class implements the SparseMatrix interface for storing and
// manipulating block sparse matrices. The block structure is stored
// in the CompressedRowBlockStructure object and one is needed to
// initialize the matrix. For details on how the blocks structure of
// the matrix is stored please see the documentation
//
//   internal/ceres/block_structure.h
//
class BlockSparseMatrix : public SparseMatrix {
 public:
  // Construct a block sparse matrix with a fully initialized
  // CompressedRowBlockStructure objected. The matrix takes over
  // ownership of this object and destroys it upon destruction.
  //
  // TODO(sameeragarwal): Add a function which will validate legal
  // CompressedRowBlockStructure objects.
  explicit BlockSparseMatrix(CompressedRowBlockStructure* block_structure);

  BlockSparseMatrix();
  virtual ~BlockSparseMatrix();

  // Implementation of SparseMatrix interface.
  virtual void SetZero();
  virtual void RightMultiply(const double* x, double* y) const;
  virtual void LeftMultiply(const double* x, double* y) const;
  virtual void SquaredColumnNorm(double* x) const;
  virtual void ScaleColumns(const double* scale);
  virtual void ToDenseMatrix(Matrix* dense_matrix) const;
  virtual void ToTextFile(FILE* file) const;

  virtual int num_rows()         const { return num_rows_;     }
  virtual int num_cols()         const { return num_cols_;     }
  virtual int num_nonzeros()     const { return num_nonzeros_; }
  virtual const double* values() const { return values_.get(); }
  virtual double* mutable_values()     { return values_.get(); }

  void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const;
  const CompressedRowBlockStructure* block_structure() const;

 private:
  int num_rows_;
  int num_cols_;
  int max_num_nonzeros_;
  int num_nonzeros_;
  scoped_array<double> values_;
  scoped_ptr<CompressedRowBlockStructure> block_structure_;
  CERES_DISALLOW_COPY_AND_ASSIGN(BlockSparseMatrix);
};

}  // namespace internal
}  // namespace ceres

#endif  // CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_