ceres-solver/internal/ceres/dense_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: keir@google.com (Keir Mierle)
//
// A dense matrix implemented under the SparseMatrix interface.

#ifndef CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
#define CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_

#include <glog/logging.h>
#include "ceres/sparse_matrix.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/macros.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/types.h"

namespace ceres {
namespace internal {

class SparseMatrixProto;
class TripletSparseMatrix;

class DenseSparseMatrix : public SparseMatrix {
 public:
  // Build a matrix with the same content as the TripletSparseMatrix
  // m. This assumes that m does not have any repeated entries.
  explicit DenseSparseMatrix(const TripletSparseMatrix& m);
  explicit DenseSparseMatrix(const ColMajorMatrix& m);
#ifndef CERES_NO_PROTOCOL_BUFFERS
  explicit DenseSparseMatrix(const SparseMatrixProto& proto);
#endif

  DenseSparseMatrix(int num_rows, int num_cols);
  DenseSparseMatrix(int num_rows, int num_cols, bool reserve_diagonal);

  virtual ~DenseSparseMatrix() {}

  // 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;
#ifndef CERES_NO_PROTOCOL_BUFFERS
  virtual void ToProto(SparseMatrixProto* proto) const;
#endif
  virtual void ToTextFile(FILE* file) const;
  virtual int num_rows() const;
  virtual int num_cols() const;
  virtual int num_nonzeros() const;
  virtual const double* values() const { return m_.data(); }
  virtual double* mutable_values() { return m_.data(); }

  ConstColMajorMatrixRef matrix() const;
  ColMajorMatrixRef mutable_matrix();

  // Only one diagonal can be appended at a time. The diagonal is appended to
  // as a new set of rows, e.g.
  //
  // Original matrix:
  //
  //   x x x
  //   x x x
  //   x x x
  //
  // After append diagonal (1, 2, 3):
  //
  //   x x x
  //   x x x
  //   x x x
  //   1 0 0
  //   0 2 0
  //   0 0 3
  //
  // Calling RemoveDiagonal removes the block. It is a fatal error to append a
  // diagonal to a matrix that already has an appended diagonal, and it is also
  // a fatal error to remove a diagonal from a matrix that has none.
  void AppendDiagonal(double *d);
  void RemoveDiagonal();

 private:
  ColMajorMatrix m_;
  bool has_diagonal_appended_;
  bool has_diagonal_reserved_;
};

}  // namespace internal
}  // namespace ceres

#endif  // CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_