sparse_block_matrix.h

Go to the documentation of this file.

// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef G2O_SPARSE_BLOCK_MATRIX_
#define G2O_SPARSE_BLOCK_MATRIX_

#include <map>
#include <vector>
#include <fstream>
#include <iostream>
#include <iomanip>
#include <cassert>
#include <Eigen/Core>

#include "sparse_block_matrix_ccs.h"
#include "matrix_structure.h"
#include "matrix_operations.h"
#include "../../config.h"

namespace g2o {
  using namespace Eigen;
template <class MatrixType = MatrixXd >
class SparseBlockMatrix {

  public:
    typedef MatrixType SparseMatrixBlock;

    inline int cols() const {return _colBlockIndices.size() ? _colBlockIndices.back() : 0;}
    inline int rows() const {return _rowBlockIndices.size() ? _rowBlockIndices.back() : 0;}

    typedef std::map<int, SparseMatrixBlock*> IntBlockMap;

    SparseBlockMatrix( const int * rbi, const int* cbi, int rb, int cb, bool hasStorage=true);

    SparseBlockMatrix();

    ~SparseBlockMatrix();

    
    void clear(bool dealloc=false) ;

    SparseMatrixBlock* block(int r, int c, bool alloc=false);
    const SparseMatrixBlock* block(int r, int c) const;

    inline int rowsOfBlock(int r) const { return r ? _rowBlockIndices[r] - _rowBlockIndices[r-1] : _rowBlockIndices[0] ; }

    inline int colsOfBlock(int c) const { return c ? _colBlockIndices[c] - _colBlockIndices[c-1] : _colBlockIndices[0]; }

    inline int rowBaseOfBlock(int r) const { return r ? _rowBlockIndices[r-1] : 0 ; }

    inline int colBaseOfBlock(int c) const { return c ? _colBlockIndices[c-1] : 0 ; }

    size_t nonZeros() const; 
    size_t nonZeroBlocks() const; 

    SparseBlockMatrix* clone() const ;

    SparseBlockMatrix*  slice(int rmin, int rmax, int cmin, int cmax, bool alloc=true) const;

    template <class MatrixTransposedType>
    bool transpose(SparseBlockMatrix<MatrixTransposedType>*& dest) const;

    bool add(SparseBlockMatrix<MatrixType>*& dest) const ;

    template <class MatrixResultType, class MatrixFactorType>
    bool multiply(SparseBlockMatrix<MatrixResultType> *& dest, const SparseBlockMatrix<MatrixFactorType>* M) const;

    void multiply(double*& dest, const double* src) const;

    void multiplySymmetricUpperTriangle(double*& dest, const double* src) const;

    void rightMultiply(double*& dest, const double* src) const;

    void scale( double a);

    bool symmPermutation(SparseBlockMatrix<MatrixType>*& dest, const int* pinv, bool onlyUpper=false) const;

    int fillCCS(int* Cp, int* Ci, double* Cx, bool upperTriangle = false) const;

    int fillCCS(double* Cx, bool upperTriangle = false) const;

    void fillBlockStructure(MatrixStructure& ms) const;

    const std::vector<IntBlockMap>& blockCols() const { return _blockCols;}
    std::vector<IntBlockMap>& blockCols() { return _blockCols;}

    const std::vector<int>& rowBlockIndices() const { return _rowBlockIndices;}
    std::vector<int>& rowBlockIndices() { return _rowBlockIndices;}

    const std::vector<int>& colBlockIndices() const { return _colBlockIndices;}
    std::vector<int>& colBlockIndices() { return _colBlockIndices;}

    bool writeOctave(const char* filename, bool upperTriangle = true) const;

    int fillSparseBlockMatrixCCS(SparseBlockMatrixCCS<MatrixType>& blockCCS) const;

    int fillSparseBlockMatrixCCSTransposed(SparseBlockMatrixCCS<MatrixType>& blockCCS) const;

    void takePatternFromHash(SparseBlockMatrixHashMap<MatrixType>& hashMatrix);

  protected:
    std::vector<int> _rowBlockIndices; 
    std::vector<int> _colBlockIndices; 
    std::vector <IntBlockMap> _blockCols;
    bool _hasStorage;
};

template < class  MatrixType >
std::ostream& operator << (std::ostream&, const SparseBlockMatrix<MatrixType>& m);

  typedef SparseBlockMatrix<MatrixXd> SparseBlockMatrixXd;   

} //end namespace

#include "sparse_block_matrix.hpp"

#endif