1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of Google Inc. nor the names of its contributors may be
14 // used to endorse or promote products derived from this software without
15 // specific prior written permission.
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
31 // Block structure objects are used to carry information about the
32 // dense block structure of sparse matrices. The BlockSparseMatrix
33 // object uses the BlockStructure objects to keep track of the matrix
34 // structure and operate upon it. This allows us to use more cache
35 // friendly block oriented linear algebra operations on the matrix
36 // instead of accessing it one scalar entry at a time.
38 #ifndef CERES_INTERNAL_BLOCK_STRUCTURE_H_
39 #define CERES_INTERNAL_BLOCK_STRUCTURE_H_
42 #include "ceres/internal/port.h"
43 #include "ceres/types.h"
48 typedef int32 BlockSize;
51 Block() : size(-1), position(-1) {}
52 Block(int size_, int position_) : size(size_), position(position_) {}
55 int position; // Position along the row/column.
59 Cell() : block_id(-1), position(-1) {}
60 Cell(int block_id_, int position_)
61 : block_id(block_id_), position(position_) {}
63 // Column or row block id as the case maybe.
65 // Where in the values array of the jacobian is this cell located.
69 // Order cell by their block_id;
70 bool CellLessThan(const Cell& lhs, const Cell& rhs);
72 struct CompressedList {
75 // Construct a CompressedList with the cells containing num_cells
77 CompressedList(int num_cells) : cells(num_cells) {}
79 std::vector<Cell> cells;
82 typedef CompressedList CompressedRow;
83 typedef CompressedList CompressedColumn;
85 struct CompressedRowBlockStructure {
86 std::vector<Block> cols;
87 std::vector<CompressedRow> rows;
90 struct CompressedColumnBlockStructure {
91 std::vector<Block> rows;
92 std::vector<CompressedColumn> cols;
95 } // namespace internal
98 #endif // CERES_INTERNAL_BLOCK_STRUCTURE_H_