marginal_covariance_cholesky.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 
// g2o is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published
// by the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
// 
// g2o is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
// 
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef MARGINAL_COVARIANCE_CHOLESKY_H
#define 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(const std::vector<OptimizableGraph::Vertex*>& vertices);

      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