SparseMatrix.h

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#pragma once

#include <iostream>
#include <Eigen/Dense>

#include "SparseVector.h"

namespace isam {

typedef SparseVector* SparseVector_p;

class SparseMatrix {
  int _num_rows; // current number of rows
  int _num_cols; // current number of columns
  int _max_num_rows; // allocated number of row indices
  int _max_num_cols; // allocated number of columns
  SparseVector_p* _rows;  // pointers to the actual rows

  void _allocate_SparseMatrix(int num_rows, int num_cols, int max_num_rows, int max_num_cols, bool init_rows = true);

  void _copy_from_SparseMatrix(const SparseMatrix& mat);

  void _dealloc_SparseMatrix();

public:

  SparseMatrix(int num_rows, int num_cols);

  SparseMatrix(const SparseMatrix& mat);

  SparseMatrix(const SparseMatrix& mat, int num_rows, int num_cols, int first_row = 0, int first_col = 0);

  SparseMatrix(int num_rows, int num_cols, SparseVector_p* rows);

  virtual ~SparseMatrix();

  const SparseMatrix& operator= (const SparseMatrix& mat);

  virtual double operator()(int row, int col) const;

  virtual void set(int row, int col, const double val, bool grow_matrix = false);

  virtual void append_in_row(int row, int col,const double val);

  virtual int nnz() const;

  virtual int max_nz() const;

  virtual void print(std::ostream& out = std::cout) const;

  virtual void print(const std::string& file_name) const;

  virtual void print_stats() const;

  virtual void print_pattern() const;

  virtual void save_pattern_eps(const std::string& file_name) const;

  virtual const SparseVector& get_row(int row) const;

  virtual void set_row(int row, const SparseVector& new_row);

  virtual void import_rows(int num_rows, int num_cols, SparseVector_p* rows);

  virtual void append_new_rows(int num);

  virtual void append_new_cols(int num);

  virtual void ensure_num_rows(int num_rows);

  virtual void ensure_num_cols(int num_cols);

  virtual void remove_row();

  virtual void apply_givens(int row, int col, double* c_givens = NULL, double* s_givens = NULL);

  virtual int triangulate_with_givens();

  inline int num_rows() const {return _num_rows;}
  inline int num_cols() const {return _num_cols;}

  friend class OrderedSparseMatrix;
};

const Eigen::VectorXd operator*(const SparseMatrix& lhs, const Eigen::VectorXd& rhs);
Eigen::VectorXd mul_SparseMatrixTrans_Vector(const SparseMatrix& lhs, const Eigen::VectorXd& rhs);
SparseMatrix sparseMatrix_of_matrix(const Eigen::MatrixXd& m);
Eigen::MatrixXd matrix_of_sparseMatrix(const SparseMatrix& s);

}