marginal_covariance_cholesky.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
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#ifndef G2O_MARGINAL_COVARIANCE_CHOLESKY_H
#define G2O_MARGINAL_COVARIANCE_CHOLESKY_H

#include "optimizable_graph.h"
#include "sparse_block_matrix.h"

#include <cassert>
#include <vector>

#ifdef _MSC_VER
#include <unordered_map>
#else
#include <tr1/unordered_map>
#endif


namespace g2o {

  class  MarginalCovarianceCholesky {
    protected:
      typedef std::tr1::unordered_map<int, double>     LookupMap;
    
    public:
      MarginalCovarianceCholesky();
      ~MarginalCovarianceCholesky();

      void computeCovariance(double** covBlocks, const std::vector<int>& blockIndices);


      void computeCovariance(SparseBlockMatrix<MatrixXd>& spinv, const std::vector<int>& rowBlockIndices, const std::vector< std::pair<int, int> >& blockIndices);


      void setCholeskyFactor(int n, int* Lp, int* Li, double* Lx, int* permInv);

    protected:
      // information about the cholesky factor (lower triangle)
      int _n;           
      int* _Ap;         
      int* _Ai;         
      double* _Ax;      
      int* _perm;       

      LookupMap _map;             
      std::vector<double> _diag;  

      int computeIndex(int r, int c) const { /*assert(r <= c);*/ return r*_n + c;}
      double computeEntry(int r, int c);
  };

}

#endif