| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687 | // Ceres Solver - A fast non-linear least squares minimizer// Copyright 2015 Google Inc. All rights reserved.// http://ceres-solver.org///// Redistribution and use in source and binary forms, with or without// modification, are permitted provided that the following conditions are met://// * Redistributions of source code must retain the above copyright notice,//   this list of conditions and the following disclaimer.// * Redistributions in binary form must reproduce the above copyright notice,//   this list of conditions and the following disclaimer in the documentation//   and/or other materials provided with the distribution.// * Neither the name of Google Inc. nor the names of its contributors may be//   used to endorse or promote products derived from this software without//   specific prior written permission.//// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE// POSSIBILITY OF SUCH DAMAGE.//// Author: sameeragarwal@google.com (Sameer Agarwal)#include "ceres/block_random_access_dense_matrix.h"#include <vector>#include "ceres/internal/eigen.h"#include "glog/logging.h"namespace ceres {namespace internal {BlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix(    const std::vector<int>& blocks) {  const int num_blocks = blocks.size();  block_layout_.resize(num_blocks, 0);  num_rows_ = 0;  for (int i = 0; i < num_blocks; ++i) {    block_layout_[i] = num_rows_;    num_rows_ += blocks[i];  }  values_.reset(new double[num_rows_ * num_rows_]);  cell_infos_.reset(new CellInfo[num_blocks * num_blocks]);  for (int i = 0; i < num_blocks * num_blocks; ++i) {    cell_infos_[i].values = values_.get();  }  SetZero();}// Assume that the user does not hold any locks on any cell blocks// when they are calling SetZero.BlockRandomAccessDenseMatrix::~BlockRandomAccessDenseMatrix() {}CellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id,                                                const int col_block_id,                                                int* row,                                                int* col,                                                int* row_stride,                                                int* col_stride) {  *row = block_layout_[row_block_id];  *col = block_layout_[col_block_id];  *row_stride = num_rows_;  *col_stride = num_rows_;  return &cell_infos_[row_block_id * block_layout_.size() + col_block_id];}// Assume that the user does not hold any locks on any cell blocks// when they are calling SetZero.void BlockRandomAccessDenseMatrix::SetZero() {  if (num_rows_) {    VectorRef(values_.get(), num_rows_ * num_rows_).setZero();  }}}  // namespace internal}  // namespace ceres
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