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 MATRIX_STRUCTURE_H 00018 #define MATRIX_STRUCTURE_H 00019 00020 namespace g2o { 00021 00025 class MatrixStructure 00026 { 00027 public: 00028 MatrixStructure(); 00029 ~MatrixStructure(); 00034 void alloc(int n_, int nz); 00035 00036 void free(); 00037 00041 bool write(const char* filename) const; 00042 00043 int n; 00044 int m; 00045 int* Ap; 00046 int* Aii; 00047 00049 int nzMax() const { return maxNz;} 00050 00051 protected: 00052 int maxN; 00053 int maxNz; 00054 }; 00055 00056 } // end namespace 00057 00058 #endif