mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Keir Mierle
7492b0d8de
Since Ceres is moving to using GitHub for issues, and the Google Code URL in the current copyright header will soon become invalid, update all the headers. Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
108 lines
4.5 KiB
C++
108 lines
4.5 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: sameeragarwal@google.com (Sameer Agarwal)
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//
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// Interface definition for sparse matrices.
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#ifndef CERES_INTERNAL_SPARSE_MATRIX_H_
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#define CERES_INTERNAL_SPARSE_MATRIX_H_
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#include <cstdio>
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#include "ceres/linear_operator.h"
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#include "ceres/internal/eigen.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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// This class defines the interface for storing and manipulating
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// sparse matrices. The key property that differentiates different
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// sparse matrices is how they are organized in memory and how the
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// information about the sparsity structure of the matrix is
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// stored. This has significant implications for linear solvers
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// operating on these matrices.
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//
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// To deal with the different kinds of layouts, we will assume that a
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// sparse matrix will have a two part representation. A values array
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// that will be used to store the entries of the sparse matrix and
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// some sort of a layout object that tells the user the sparsity
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// structure and layout of the values array. For example in case of
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// the TripletSparseMatrix, this information is carried in the rows
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// and cols arrays and for the BlockSparseMatrix, this information is
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// carried in the CompressedRowBlockStructure object.
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//
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// This interface deliberately does not contain any information about
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// the structure of the sparse matrix as that seems to be highly
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// matrix type dependent and we are at this stage unable to come up
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// with an efficient high level interface that spans multiple sparse
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// matrix types.
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class SparseMatrix : public LinearOperator {
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public:
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virtual ~SparseMatrix();
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// y += Ax;
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virtual void RightMultiply(const double* x, double* y) const = 0;
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// y += A'x;
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virtual void LeftMultiply(const double* x, double* y) const = 0;
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// In MATLAB notation sum(A.*A, 1)
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virtual void SquaredColumnNorm(double* x) const = 0;
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// A = A * diag(scale)
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virtual void ScaleColumns(const double* scale) = 0;
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// A = 0. A->num_nonzeros() == 0 is true after this call. The
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// sparsity pattern is preserved.
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virtual void SetZero() = 0;
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// Resize and populate dense_matrix with a dense version of the
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// sparse matrix.
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virtual void ToDenseMatrix(Matrix* dense_matrix) const = 0;
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// Write out the matrix as a sequence of (i,j,s) triplets. This
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// format is useful for loading the matrix into MATLAB/octave as a
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// sparse matrix.
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virtual void ToTextFile(FILE* file) const = 0;
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// Accessors for the values array that stores the entries of the
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// sparse matrix. The exact interpreptation of the values of this
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// array depends on the particular kind of SparseMatrix being
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// accessed.
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virtual double* mutable_values() = 0;
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virtual const double* values() const = 0;
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virtual int num_rows() const = 0;
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virtual int num_cols() const = 0;
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virtual int num_nonzeros() const = 0;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_SPARSE_MATRIX_H_
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