jacobian_workspace.h

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// 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
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#ifndef JACOBIAN_WORKSPACE_H
#define JACOBIAN_WORKSPACE_H
 
#include <Eigen/Core>
#include <cassert>
#include <vector>
 
#include "g2o/core/eigen_types.h"
#include "g2o_core_api.h"
#include "hyper_graph.h"
 
namespace g2o {
 
struct OptimizableGraph;

class G2O_CORE_API JacobianWorkspace {
 public:
  using WorkspaceVector = std::vector<VectorX>;
 
 public:
  JacobianWorkspace();
  ~JacobianWorkspace();

  bool allocate();

  void updateSize(const HyperGraph::Edge* e, bool reset);
  void updateSize(const HyperGraph::Edge* e);

  void updateSize(const OptimizableGraph& graph, bool reset = false);

  void updateSize(int numVertices, int dimension, bool reset = false);

  void setZero();

  double* workspaceForVertex(int vertexIndex) {
    assert(vertexIndex >= 0 && (size_t)vertexIndex < _workspace.size() &&
           "Index out of bounds");
    return _workspace[vertexIndex].data();
  }
 
 protected:
  WorkspaceVector
      _workspace;  
  int _maxNumVertices;  
  int _maxDimension;    
};
 
}  // namespace g2o
 
#endif