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
23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 // POSSIBILITY OF SUCH DAMAGE.
29 // Author: keir@google.com (Keir Mierle)
31 // A dense matrix implemented under the SparseMatrix interface.
33 #ifndef CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
34 #define CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
36 #include "ceres/sparse_matrix.h"
37 #include "ceres/internal/eigen.h"
38 #include "ceres/internal/macros.h"
39 #include "ceres/internal/scoped_ptr.h"
40 #include "ceres/types.h"
45 class TripletSparseMatrix;
47 class DenseSparseMatrix : public SparseMatrix {
49 // Build a matrix with the same content as the TripletSparseMatrix
50 // m. This assumes that m does not have any repeated entries.
51 explicit DenseSparseMatrix(const TripletSparseMatrix& m);
52 explicit DenseSparseMatrix(const ColMajorMatrix& m);
54 DenseSparseMatrix(int num_rows, int num_cols);
55 DenseSparseMatrix(int num_rows, int num_cols, bool reserve_diagonal);
57 virtual ~DenseSparseMatrix() {}
59 // SparseMatrix interface.
60 virtual void SetZero();
61 virtual void RightMultiply(const double* x, double* y) const;
62 virtual void LeftMultiply(const double* x, double* y) const;
63 virtual void SquaredColumnNorm(double* x) const;
64 virtual void ScaleColumns(const double* scale);
65 virtual void ToDenseMatrix(Matrix* dense_matrix) const;
66 virtual void ToTextFile(FILE* file) const;
67 virtual int num_rows() const;
68 virtual int num_cols() const;
69 virtual int num_nonzeros() const;
70 virtual const double* values() const { return m_.data(); }
71 virtual double* mutable_values() { return m_.data(); }
73 ConstColMajorMatrixRef matrix() const;
74 ColMajorMatrixRef mutable_matrix();
76 // Only one diagonal can be appended at a time. The diagonal is appended to
77 // as a new set of rows, e.g.
85 // After append diagonal (1, 2, 3):
94 // Calling RemoveDiagonal removes the block. It is a fatal error to append a
95 // diagonal to a matrix that already has an appended diagonal, and it is also
96 // a fatal error to remove a diagonal from a matrix that has none.
97 void AppendDiagonal(double *d);
98 void RemoveDiagonal();
102 bool has_diagonal_appended_;
103 bool has_diagonal_reserved_;
106 } // namespace internal
109 #endif // CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_