| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101 | // 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: richie.stebbing@gmail.com (Richard Stebbing)//// A compressed row sparse matrix that provides an extended interface to// allow dynamic insertion of entries. This is provided for the use case// where the sparsity structure and number of non-zero entries is dynamic.// This flexibility is achieved by using an (internal) scratch space that// allows independent insertion of entries into each row (thread-safe).// Once insertion is complete, the `Finalize` method must be called to ensure// that the underlying `CompressedRowSparseMatrix` is consistent.//// This should only be used if you really do need a dynamic sparsity pattern.#ifndef CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_#define CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_#include <vector>#include "ceres/compressed_row_sparse_matrix.h"namespace ceres {namespace internal {class DynamicCompressedRowSparseMatrix : public CompressedRowSparseMatrix { public:  // Set the number of rows and columns for the underlyig  // `CompressedRowSparseMatrix` and set the initial number of maximum non-zero  // entries. Note that following the insertion of entries, when `Finalize`  // is called the number of non-zeros is determined and all internal  // structures are adjusted as required. If you know the upper limit on the  // number of non-zeros, then passing this value here can prevent future  // memory reallocations which may improve performance. Otherwise, if no  // upper limit is available a value of 0 is sufficient.  //  // Typical usage of this class is to define a new instance with a given  // number of rows, columns and maximum number of non-zero elements  // (if available). Next, entries are inserted at row and column positions  // using `InsertEntry`. Finally, once all elements have been inserted,  // `Finalize` must be called to make the underlying  // `CompressedRowSparseMatrix` consistent.  DynamicCompressedRowSparseMatrix(int num_rows,                                   int num_cols,                                   int initial_max_num_nonzeros);  // Insert an entry at a given row and column position. This method is  // thread-safe across rows i.e. different threads can insert values  // simultaneously into different rows. It should be emphasised that this  // method always inserts a new entry and does not check for existing  // entries at the specified row and column position. Duplicate entries  // for a given row and column position will result in undefined  // behavior.  void InsertEntry(int row, int col, const double& value);  // Clear all entries for rows, starting from row index `row_start`  // and proceeding for `num_rows`.  void ClearRows(int row_start, int num_rows);  // Make the underlying internal `CompressedRowSparseMatrix` data structures  // consistent. Additional space for non-zero entries in the  // `CompressedRowSparseMatrix` can be reserved by specifying  // `num_additional_elements`. This is useful when it is known that rows will  // be appended to the `CompressedRowSparseMatrix` (e.g. appending a diagonal  // matrix to the jacobian) as it prevents need for future reallocation.  void Finalize(int num_additional_elements); private:  std::vector<std::vector<int>> dynamic_cols_;  std::vector<std::vector<double>> dynamic_values_;};}  // namespace internal}  // namespace ceres#endif  // CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_
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