00001 // g2o - General Graph Optimization 00002 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 00003 // 00004 // g2o is free software: you can redistribute it and/or modify 00005 // it under the terms of the GNU Lesser General Public License as published 00006 // by the Free Software Foundation, either version 3 of the License, or 00007 // (at your option) any later version. 00008 // 00009 // g2o is distributed in the hope that it will be useful, 00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 // GNU Lesser General Public License for more details. 00013 // 00014 // You should have received a copy of the GNU Lesser General Public License 00015 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00016 00017 #ifndef CSPARSE_HELPER_H 00018 #define CSPARSE_HELPER_H 00019 00020 #ifndef NCOMPLEX 00021 #define NCOMPLEX 00022 #endif 00023 #include <cs.h> 00024 00025 namespace g2o { 00026 00030 bool writeCs2Octave(const char* filename, const cs* A, bool upperTriangular = true); 00031 00032 // our extensions to csparse 00033 csn* cs_chol_workspace (const cs *A, const css *S, int* cin, double* xin); 00034 int cs_cholsolsymb(const cs *A, double *b, const css* S, double* workspace, int* work); 00035 00036 } // end namespace 00037 00038 #endif