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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: 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"
#include "ceres/internal/port.h"
namespace ceres {
namespace internal {
class CERES_EXPORT_INTERNAL 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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