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// 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: 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 "ceres/internal/eigen.h"
#include "ceres/sparse_matrix.h"
#include "ceres/types.h"
namespace ceres {
namespace internal {
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);
DenseSparseMatrix(int num_rows, int num_cols);
DenseSparseMatrix(int num_rows, int num_cols, bool reserve_diagonal);
virtual ~DenseSparseMatrix() {}
// SparseMatrix interface.
void SetZero() final;
void RightMultiply(const double* x, double* y) const final;
void LeftMultiply(const double* x, double* y) const final;
void SquaredColumnNorm(double* x) const final;
void ScaleColumns(const double* scale) final;
void ToDenseMatrix(Matrix* dense_matrix) const final;
void ToTextFile(FILE* file) const final;
int num_rows() const final;
int num_cols() const final;
int num_nonzeros() const final;
const double* values() const final { return m_.data(); }
double* mutable_values() final { 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_
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