mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Nikolaus Demmel
7b8f675bfd
- Change formatting standard to Cpp11. Main difference is not having the space between two closing >> for nested templates. We don't choose c++14, because older versions of clang-format (version 9 and earlier) don't know this value yet, and it doesn't make a difference in the formatting. - Apply clang-format to all (non generated) internal source files. - Manually fix some code sections (clang-format on/off) and c-strings - Exclude some embedded external files with very different formatting (gtest/gmock) - Add script to format all source files Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
108 lines
3.8 KiB
C++
108 lines
3.8 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: keir@google.com (Keir Mierle)
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//
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// A dense matrix implemented under the SparseMatrix interface.
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#ifndef CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
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#define CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
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#include "ceres/internal/eigen.h"
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#include "ceres/sparse_matrix.h"
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#include "ceres/types.h"
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namespace ceres {
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namespace internal {
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class TripletSparseMatrix;
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class DenseSparseMatrix : public SparseMatrix {
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public:
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// Build a matrix with the same content as the TripletSparseMatrix
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// m. This assumes that m does not have any repeated entries.
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explicit DenseSparseMatrix(const TripletSparseMatrix& m);
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explicit DenseSparseMatrix(const ColMajorMatrix& m);
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DenseSparseMatrix(int num_rows, int num_cols);
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DenseSparseMatrix(int num_rows, int num_cols, bool reserve_diagonal);
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virtual ~DenseSparseMatrix() {}
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// SparseMatrix interface.
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void SetZero() final;
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void RightMultiply(const double* x, double* y) const final;
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void LeftMultiply(const double* x, double* y) const final;
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void SquaredColumnNorm(double* x) const final;
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void ScaleColumns(const double* scale) final;
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void ToDenseMatrix(Matrix* dense_matrix) const final;
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void ToTextFile(FILE* file) const final;
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int num_rows() const final;
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int num_cols() const final;
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int num_nonzeros() const final;
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const double* values() const final { return m_.data(); }
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double* mutable_values() final { return m_.data(); }
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ConstColMajorMatrixRef matrix() const;
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ColMajorMatrixRef mutable_matrix();
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// Only one diagonal can be appended at a time. The diagonal is appended to
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// as a new set of rows, e.g.
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//
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// Original matrix:
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//
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// x x x
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// x x x
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// x x x
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//
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// After append diagonal (1, 2, 3):
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//
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// x x x
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// x x x
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// x x x
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// 1 0 0
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// 0 2 0
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// 0 0 3
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//
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// Calling RemoveDiagonal removes the block. It is a fatal error to append a
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// diagonal to a matrix that already has an appended diagonal, and it is also
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// a fatal error to remove a diagonal from a matrix that has none.
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void AppendDiagonal(double* d);
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void RemoveDiagonal();
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private:
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ColMajorMatrix m_;
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bool has_diagonal_appended_;
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bool has_diagonal_reserved_;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
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