1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
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6 // modification, are permitted provided that the following conditions are met:
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9 // this list of conditions and the following disclaimer.
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11 // this list of conditions and the following disclaimer in the documentation
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
31 #ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
32 #define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
37 #include "ceres/mutex.h"
38 #include "ceres/block_random_access_matrix.h"
39 #include "ceres/collections_port.h"
40 #include "ceres/triplet_sparse_matrix.h"
41 #include "ceres/integral_types.h"
42 #include "ceres/internal/macros.h"
43 #include "ceres/internal/port.h"
44 #include "ceres/internal/scoped_ptr.h"
45 #include "ceres/types.h"
50 // A thread safe block diagonal matrix implementation of
51 // BlockRandomAccessMatrix.
52 class BlockRandomAccessDiagonalMatrix : public BlockRandomAccessMatrix {
54 // blocks is an array of block sizes.
55 explicit BlockRandomAccessDiagonalMatrix(const std::vector<int>& blocks);
57 // The destructor is not thread safe. It assumes that no one is
58 // modifying any cells when the matrix is being destroyed.
59 virtual ~BlockRandomAccessDiagonalMatrix();
61 // BlockRandomAccessMatrix Interface.
62 virtual CellInfo* GetCell(int row_block_id,
69 // This is not a thread safe method, it assumes that no cell is
71 virtual void SetZero();
73 // Invert the matrix assuming that each block is positive definite.
77 void RightMultiply(const double* x, double* y) const;
79 // Since the matrix is square, num_rows() == num_cols().
80 virtual int num_rows() const { return tsm_->num_rows(); }
81 virtual int num_cols() const { return tsm_->num_cols(); }
83 const TripletSparseMatrix* matrix() const { return tsm_.get(); }
84 TripletSparseMatrix* mutable_matrix() { return tsm_.get(); }
87 // row/column block sizes.
88 const std::vector<int> blocks_;
89 std::vector<CellInfo*> layout_;
91 // The underlying matrix object which actually stores the cells.
92 scoped_ptr<TripletSparseMatrix> tsm_;
94 friend class BlockRandomAccessDiagonalMatrixTest;
95 CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessDiagonalMatrix);
98 } // namespace internal
101 #endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_